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jieshoudaxue
28 lines
1.2 KiB
XML
28 lines
1.2 KiB
XML
<launch>
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<node pkg="mrobot_bringup" type="mrobot_bringup" name="mrobot_bringup" output="screen" />
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<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find mrobot_description)/urdf/mrobot_with_rplidar.urdf.xacro'" />
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<param name="robot_description" command="$(arg urdf_file)" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="state_publisher">
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<param name="publish_frequency" type="double" value="5.0" />
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</node>
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<node name="base2laser" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 1 /base_link /laser 50"/>
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<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
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<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
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<param name="freq" value="10.0"/>
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<param name="sensor_timeout" value="1.0"/>
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<param name="publish_tf" value="true"/>
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<param name="odom_used" value="true"/>
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<param name="imu_used" value="false"/>
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<param name="vo_used" value="false"/>
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<param name="output_frame" value="odom"/>
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</node>
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<include file="$(find mrobot_bringup)/launch/rplidar.launch" />
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</launch> |