46 lines
2.0 KiB
XML
46 lines
2.0 KiB
XML
<launch>
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<!-- Arguments -->
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<arg name="cmd_vel_topic" default="/cmd_vel" />
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<arg name="odom_topic" default="odom" />
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<arg name="localization_rviz" default="false"/>
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<arg name="pnc_rviz" default="true"/>
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<!-- amcl -->
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<!--<include file="$(find xju_slam)/launch/localization.launch">
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<arg name="rviz" value="$(arg localization_rviz)" />
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</include>-->
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<!-- amcl3d -->
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<include file="$(find xju_slam)/launch/localization.launch">
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<arg name="rviz" value="$(arg localization_rviz)" />
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</include>
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<!-- move_base_flex -->
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<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen">
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<param name="SBPLLatticePlanner/primitive_filename" value="$(find xju_pnc)/param/xjureso005.mprim" />
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<rosparam file="$(find xju_pnc)/param/costmap_params.yaml" command="load" />
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<rosparam file="$(find xju_pnc)/param/mbf_sbpl.yaml" command="load" />
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<rosparam file="$(find xju_pnc)/param/sbpl_global_params.yaml" command="load" />
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<rosparam file="$(find xju_pnc)/param/recovery_behavior_params.yaml" command="load" />
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<rosparam file="$(find xju_pnc)/param/teb_local_planner_params.yaml" command="load" />
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<rosparam file="$(find xju_pnc)/param/costmap_converter_params.yaml" command="load" />
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<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
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<remap from="odom" to="$(arg odom_topic)"/>
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</node>
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<!-- action goal bridge -->
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<node pkg="xju_pnc" type="xju_mbf_bridge" respawn="false" name="xju_mbf_bridge" />
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<!-- state machine -->
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<param name="/root_path" value="$(find xju_slam)" type="string"/>
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<node pkg="xju_pnc" type="xju_state_machine" respawn="false" name="xju_state_machine" output="screen"/>
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<!-- coverage_path_planner -->
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<include file="$(find coverage_path_planner)/launch/path_planning.launch" />
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<!-- rviz -->
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<group if="$(arg pnc_rviz)">
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find xju_pnc)/rviz/mbf.rviz" />
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</group>
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</launch>
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