29 lines
953 B
Plaintext
29 lines
953 B
Plaintext
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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<rosparam file="$(find pcd2map)/config/pcd2map_park.yaml" command="load"/>
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<node name="pcd2map" pkg="pcd2map" type="pcd2map" />
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<!-- Load octomap node -->
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<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
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<param name="resolution" value="0.05" />
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<param name="frame_id" type="string" value="map" />
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<param name="sensor_model/max_range" value="100.0" />
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<param name="latch" value="true" />
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<param name="pointcloud_max_z" value="0.5" />
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<param name="pointcloud_min_z" value="-0.3" />
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<remap from="/cloud_in" to="/pointcloud/output" />
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</node>
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<node pkg="map_server" type="map_saver" name="map_saver" args="/map:=/projected_map -f $(find nav_bringup)/map/RMUC2023CZ"/>
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<!-- RViz -->
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<node pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find pcd2map)/rviz/OctomapShow.rviz"/>
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</launch>
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