mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
49 lines
2.0 KiB
XML
49 lines
2.0 KiB
XML
<!--
|
|
Simulate a differential drive robot with the teb_local_planner in stage:
|
|
- map_server
|
|
- move_base
|
|
- static map
|
|
- amcl
|
|
- rviz view
|
|
-->
|
|
<launch>
|
|
|
|
<!-- ************** Global Parameters *************** -->
|
|
<param name="/use_sim_time" value="true"/>
|
|
|
|
<!-- ************** Navigation *************** -->
|
|
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
|
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
|
|
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
|
|
<rosparam file="$(find scout_robot)/param/diff_drive/local_costmap_params.yaml" command="load" />
|
|
<rosparam file="$(find scout_robot)/param/diff_drive/global_costmap_params.yaml" command="load" />
|
|
<rosparam file="$(find scout_robot)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
|
|
|
|
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
|
|
<param name="planner_frequency" value="1.0" />
|
|
<param name="planner_patience" value="5.0" />
|
|
|
|
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
|
|
<param name="controller_frequency" value="5.0" />
|
|
<param name="controller_patience" value="15.0" />
|
|
</node>
|
|
|
|
|
|
<!-- ****** Maps ***** -->
|
|
<node name="map_server" pkg="map_server" type="map_server" args="$(find scout_robot)/maps/play.yaml" output="screen">
|
|
<param name="frame_id" value="map"/>
|
|
</node>
|
|
|
|
<node pkg="amcl" type="amcl" name="amcl" output="screen">
|
|
<rosparam file="$(find scout_robot)/param/amcl_params.yaml" command="load" />
|
|
|
|
<param name="initial_pose_x" value="-2"/>
|
|
<param name="initial_pose_y" value="-1"/>
|
|
<param name="initial_pose_a" value="0"/>
|
|
</node>
|
|
|
|
<!-- **************** Visualisation **************** -->
|
|
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/rviz_navigation.rviz"/>
|
|
|
|
</launch>
|