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<!--
Launcher for rtabmap navigation controlled by nav_controller_node
-->
<launch>
<env name="ROSCONSOLE_CONFIG_FILE"
value="$(find nav_controller)/custom_rosconsole.config"/>
<include file="$(find nav_rtabmap)/rtab_move.launch" />
<node pkg="nav_controller" type="nav_controller_node" name="nav_controller"
respawn="true"
output="screen">
<rosparam file="$(find nav_controller)/goals.yaml" command="load"/>
<param name="fixed_frame_id" type="string" value="map"/>
<param name="base_frame_id" type="string" value="base_link"/>
<param name="actionlib_server_name" type="string" value="/planner/move_base"/>
<param name="feedback_rate_factor" type="int" value="10"/>
<remap from="battery" to="/base_controller/battery"/>
<param name="voice_input_dev" type="string" value="default:CARD=Device"/>
<param name="model_path" type="string" value="$(find nav_controller)/sphinx/model/en-us/en-us-adapt"/>
<param name="dictionary_file" type="string" value="$(find nav_controller)/sphinx/4557/4557.dic"/>
<param name="keyphrase_file" type="string" value="$(find nav_controller)/sphinx/keyphrase.list"/>
<param name="grammar_file" type="string" value="$(find nav_controller)/sphinx/grammar.jsgf"/>
<param name="speach_output_dev" type="string" value="default:CARD=chtrt5645"/>
<param name="speach_voice_name" type="string" value="mb-en1"/>
</node>
</launch>
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