forked from pz4kybsvg/Conception
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45 lines
2.1 KiB
45 lines
2.1 KiB
<launch>
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<arg name="ip_address" default="192.168.153.1" />
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<arg name="move_base_goal_topic" default="/move_base_simple/goal"/>
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<node name="slamware_ros_sdk_server_node" pkg="slamware_ros_sdk" type="slamware_ros_sdk_server_node" output="screen">
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<param name = "ip_address" value = "$(arg ip_address)"/>
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<param name = "angle_compensate" value = "true"/>
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<param name = "fixed_odom_map_tf" value = "true"/>
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<param name = "robot_frame" value = "/base_link"/>
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<param name = "odom_frame" value = "/odom"/>
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<param name = "laser_frame" value = "/laser"/>
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<param name = "map_frame" value = "/slamware_map"/>
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<param name = "robot_pose_pub_period" value = "0.05"/>
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<param name = "scan_pub_period" value = "0.1"/>
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<param name = "map_pub_period" value = "0.2"/>
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<param name = "path_pub_period" value = "0.05"/>
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<param name = "/cmd_vel" value = "/cmd_vel"/>
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<param name = "/move_base_simple/goal" value = "/move_base_simple/goal"/>
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<param name = "scan" value = "scan"/>
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<param name = "odom" value = "odom"/>
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<param name = "map" value = "map"/>
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<param name = "map_metadata" value = "map_metadata"/>
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<param name = "global_plan_path" value = "global_plan_path"/>
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<!-- topic remap /-->
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<remap from = "/cmd_vel" to = "/cmd_vel"/>
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<remap from = "/move_base_simple/goal" to = "$(arg move_base_goal_topic)"/>
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<remap from = "scan" to = "scan"/>
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<remap from = "odom" to = "odom"/>
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<remap from = "map" to = "slamware_map"/>
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<remap from = "map_metadata" to = "map_metadata"/>
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<remap from = "global_plan_path" to = "global_plan_path"/>
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</node>
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<node name="map2odom" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 1 /slamware_map /odom 100"/>
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<node name="base2laser" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 1 /base_link /laser 100"/>
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</launch>
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