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fetch_nav.launch
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<launch>
<!-- Navigation requires at least one map.
In addition, it is sometimes desirable to have a "keepout" map
which is used for costmaps, but not localization -->
<arg name="map_file" default="$(find fetch_maps)/maps/3_1_16_localization.yaml" />
<arg name="map_keepout_file" default="$(find fetch_maps)/maps/3_1_16_keepout.yaml" />
<arg name="use_keepout" default="false" />
<arg name="launch_map_server" default="true" />
<arg name="use_map_topic" default="false" />
<!-- Navigation parameter files -->
<arg name="move_base_include" default="$(find fetch_navigation)/launch/include/move_base.launch.xml" />
<arg name="move_base_carrot_include" default="$(find fetch_navigation)/launch/include/move_base_carrot.launch.xml" />
<arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />
<!-- set topics -->
<arg name="scan_topic" default="/base_scan" />
<arg name="map_topic" default="map" />
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="/odom" />
<group if="$(arg launch_map_server)">
<!-- serve up a map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
<param name="frame_id" value="/map" />
</node>
<!-- serve up a map with keepout zones -->
<group if="$(arg use_keepout)" >
<node name="map_keepout_server" pkg="map_server" type="map_server" args="$(arg map_keepout_file)" >
<remap from="map" to="map_keepout" />
<remap from="static_map" to="static_map_keepout" />
</node>
</group>
</group>
<!-- localize the robot -->
<include file="$(arg amcl_include)" >
<arg name="scan_topic" value="$(arg scan_topic)" />
<arg name="map_topic" value="$(arg map_topic)" />
<arg name="use_map_topic" value="$(arg use_map_topic)" />
<param name="amcl/initial_pose_x" value="-1.001" />
<param name="amcl/initial_pose_y" value="-6.720" />
<param name="amcl/initial_pose_a" value="1.505" />
</include>
<group ns="move_base_planner_navfn">
<include file="$(arg move_base_include)">
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include>
</group>
<group ns="move_base_planner_carrot">
<include file="$(arg move_base_carrot_include)">
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include>
</group>
<!-- <group ns="move_base_planner_navfn"> -->
<!-- <include file="$(arg move_base_include)">
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include> -->
<!-- </group> -->
<!-- move the robot -->
<!-- <include file="$(arg move_base_include)" ns = "move_base_planner_navfn">
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include> -->
<!-- <include file="$(arg move_base_carrot_include)" ns = "move_base_planner_carrot">
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include> -->
<!-- tilt the head -->
<node pkg="fetch_navigation" type="tilt_head.py" name="tilt_head_node" />
</launch>