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amcl_demo.launch
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amcl_demo.launch
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<launch>
<!-- Map server -->
<arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> <!-- r200, kinect, asus_xtion_pro -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- Localization -->
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="-1.57"/>
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/>
<include file="$(arg custom_amcl_launch_file)">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<!-- Move base -->
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
</launch>