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allenqiu/robot_navigation

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robot_slam_laser.launch 1.30 KB
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Liu.fuzhi 提交于 2021-03-17 10:37 . adjust some launch file and use gitee
<launch>
<!-- Arguments -->
<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, hector, karto, cartographer]"/>
<arg name="open_rviz" default="false"/>
<arg name="simulation" default= "false"/>
<arg name="planner" default="" doc="opt: dwa, teb"/>
<param name="/use_sim_time" value="$(arg simulation)" />
<!-- simulation robot with lidar and map-->
<group if="$(arg simulation)">
<include file="$(find robot_simulation)/launch/simulation_one_robot.launch"/>
</group>
<!-- robot with lidar -->
<group unless="$(arg simulation)">
<include file="$(find robot_navigation)/launch/robot_lidar.launch"/>
</group>
<!-- SLAM: Gmapping, Cartographer, Hector, Karto -->
<include file="$(find robot_navigation)/launch/includes/$(arg slam_methods).launch">
<arg name="simulation" value="$(arg simulation)"/>
</include>
<!-- move_base -->
<group unless="$(eval planner == '')">
<include file="$(find robot_navigation)/launch/move_base.launch" unless="$(eval planner == '')">
<arg name="planner" value="$(arg planner)"/>
</include>
</group>
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find robot_navigation)/rviz/slam.rviz"/>
</group>
</launch>
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