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relocated launch files

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Ruixiang Du
2019-10-07 23:21:02 +08:00
parent fe55c8d028
commit fff2e3f73b
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scout_bringup/launch/scout_nav_2d.launch Normal file
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<launch>
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="port_name" type="string" value="can0" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
<param name="simulated_robot" type="bool" value="false" />
</node>
<node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
<include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
<!--
<include file="$(find scout_base)/launch/sensor_d435i.launch" />
-->
<param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!--
<node pkg="tf2_ros" type="static_transform_publisher" name="lidar3d_tf_broadcaster" args="0.25 0 0.4 0 0 0 1 base_link rslidar" />
<node pkg="tf2_ros" type="static_transform_publisher" name="imu_tf_broadcaster" args="0.0 0 0.0 0 0 0 1 base_link imu" />
-->
<node name="pointcloud_to_laserscan" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node">
<remap from="cloud_in" to="/rslidar_points"/>
<rosparam>
transform_tolerance: 0.01
min_height: 0.2
max_height: 0.5
angle_min: -3.14
angle_max: 3.14
angle_increment: 0.01256
scan_time: 0.1
range_min: 0.2
range_max: 60.0
use_inf: true
#concurrency_level affects number of pc queued for processing and the number of threadsused
# 0: Detect number of cores
# 1: Single threaded
# 2: inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
<!-- <param name="robot_description" textfile="$(find scout_base)/model/agilex_scout.urdf" />
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_base)/model/scout.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->
</launch>