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add move_base with hector and karto slam
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<launch> | ||
<master auto="start"/> | ||
<param name="/use_sim_time" value="true"/> | ||
<include file="$(find navigation_stage)/move_base_config/move_base.xml"/> | ||
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2-5cm.world" respawn="false" > | ||
<param name="base_watchdog_timeout" value="0.2"/> | ||
</node> | ||
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<node name="hector_mapping" pkg="hector_mapping" | ||
type="hector_mapping"> | ||
<remap from="scan" to="base_scan" /> | ||
<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" /> | ||
</node> | ||
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" /> | ||
</launch> |
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,14 @@ | ||
<launch> | ||
<master auto="start"/> | ||
<param name="/use_sim_time" value="true"/> | ||
<include file="$(find navigation_stage)/move_base_config/move_base.xml"/> | ||
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2-5cm.world" respawn="false" > | ||
<param name="base_watchdog_timeout" value="0.2"/> | ||
</node> | ||
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<node name="slam_karto" pkg="slam_karto" type="slam_karto"> | ||
<remap from="scan" to="base_scan" /> | ||
</node> | ||
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" /> | ||
</launch> |