-
-
Notifications
You must be signed in to change notification settings - Fork 84
/
bringup_with_laser.launch
31 lines (25 loc) · 1.7 KB
/
bringup_with_laser.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
<launch>
<arg name="laser_frame_id" default="rplidar_gpu_laser_link" />
<!--arg name="model" default="$(env DIFFBOT_MODEL)" doc="model type [diffbot, remo]"/-->
<arg name="model" default="diffbot" doc="model type [diffbot, remo]"/>
<!-- The `minimal.launch` is used to load the DiffBot's robot descripton
and the controller configuration onto the ROS parameter server using the launch file from the
`diffbot_base` package (https://fjp.at/projects/diffbot/ros-packages/base/).
It will also setup the ROS controller manager (http://wiki.ros.org/controller_manager) with
DiffBot's hardware interface https://fjp.at/projects/diffbot/ros-packages/base/#hardware-interface.
For the motor driver the node `motor_driver.py` from the `grove_motor_driver` package is started.
And for the encoders rosserial communicates with the Teensy microcontroller to publish the encoder ticks.
-->
<include file="$(find diffbot_bringup)/launch/minimal.launch">
<arg name="model" value="$(arg model)" />
</include>
<!-- Starting robot state publish which will publish tf -->
<!-- This is needed to publish transforms between all links -->
<!-- diff_drive_controller publishes only a single transfrom between odom and base_footprint -->
<!-- The robot_state_publisher reads the joint states published by ros control's joint_state_controller -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
output="screen" ns="diffbot" />
<include file="$(find rplidar_ros)/launch/rplidar.launch" ns="diffbot">
<arg name="laser_frame_id" value="$(arg laser_frame_id)" />
</include>
</launch>