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stfm.launch
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stfm.launch
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<launch>
<node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
<param name="ip_address" value=""/>
<param name="serial_port" value="/dev/ttyACM0"/>
<param name="serial_baud" value="115200"/>
<param name="frame_id" value="laser"/>
<param name="calibrate_time" value="true"/>
<param name="publish_intensity" value="false"/>
<param name="publish_multiecho" value="true"/>
<param name="range_min" value="0"/>
<param name="range_max" value="20"/>
<param name="angle_increment" value="0.00000174"/>
<param name="angle_min" value="-3.14"/>
<param name="angle_max" value="3.14"/>
</node>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
<param name="scan" value="scan"/>
</node>
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
<param name="port" value="/dev/ttyACM1"/>
<param name="baud" value="115200"/>
</node>
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="true"/>
<param name="pub_map_odom_transform" value="true"/>
<include file="$(find hector_mapping)/launch/mapping_default.launch">
<arg name="base_frame" value="base_link"/>
<arg name="odom_frame" value="odom"/>
</include>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="base_link"/>
</include>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_base_stabilized_broadcaster" args="0 0 0 0 0 0 base_link base_stabilized 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
</launch>