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<launch>
<param name="use_sim_time" value="true" />
<!-- send the erratic robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_description)/urdf/erratic_laser.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot" pkg="gazebo" type="spawn_model"
args="-param robot_description
-urdf
-z 0.01
-model robot_description"
respawn="false" output="screen" />
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" type="string" value="" />
</node>
<!-- Filter for base laser shadowing/veiling -->
<node pkg="laser_filters" type="scan_to_cloud_filter_chain" respawn="true" name="base_shadow_filter" >
<remap from="scan" to="base_scan/scan" />
<remap from="cloud_filtered" to="base_scan/shadow_filtered" />
<param name="target_frame" value="base_footprint" />
<param name="high_fidelity" value="false" />
<rosparam command="load" file="$(find erratic_description)/params/shadow_filter.yaml" />
</node>
<!-- Filter for base laser scans that hit the body of the robot -->
<node pkg="robot_self_filter" type="self_filter" name="base_laser_self_filter" respawn="true" output="screen" >
<remap from="cloud_in" to="base_scan/shadow_filtered" />
<remap from="cloud_out" to="base_scan/marking" />
<param name="sensor_frame" type="string" value="base_scan_link" />
<rosparam file="$(find erratic_description)/params/self_filter.yaml" command="load" />
</node>
<!-- <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="true" output="screen" >-->
<!-- <param name="odom_frame_id" value="odom"/>-->
<!-- </node>-->
</launch>
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