From 9c0729e9c35fb172ecc41aaae9ce3f4682a3f668 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Fri, 16 Mar 2018 20:50:19 +0900
Subject: [PATCH] add move_base with hector and karto slam

---
 .../launch/move_base_hector_5cm.launch        | 19 +++++++++++++++++++
 .../launch/move_base_karto_5cm.launch         | 14 ++++++++++++++
 2 files changed, 33 insertions(+)
 create mode 100644 navigation_stage/launch/move_base_hector_5cm.launch
 create mode 100644 navigation_stage/launch/move_base_karto_5cm.launch

diff --git a/navigation_stage/launch/move_base_hector_5cm.launch b/navigation_stage/launch/move_base_hector_5cm.launch
new file mode 100644
index 0000000..5195bf5
--- /dev/null
+++ b/navigation_stage/launch/move_base_hector_5cm.launch
@@ -0,0 +1,19 @@
+<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>
+
+  <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>
+  
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" />
+</launch>
diff --git a/navigation_stage/launch/move_base_karto_5cm.launch b/navigation_stage/launch/move_base_karto_5cm.launch
new file mode 100644
index 0000000..ab8b018
--- /dev/null
+++ b/navigation_stage/launch/move_base_karto_5cm.launch
@@ -0,0 +1,14 @@
+<launch>
+  <master auto="start"/>
+  <param name="/use_sim_time" value="true"/>
+  <include file="$(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>
+
+  <node name="slam_karto" pkg="slam_karto" type="slam_karto">
+    <remap from="scan" to="base_scan" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" />
+</launch>