forked from xtdrone/XTDrone
78 lines
3.2 KiB
XML
78 lines
3.2 KiB
XML
<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
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Copyright (c) 2015 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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========
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This launch file loads the SLAM algorithms using the hector_slam package
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How to execute this file?
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========================
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roslaunch catvehicle catvehicle_skidpan.launch
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-->
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<launch>
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<arg name="robot_name" default="catvehicle"/>
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<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" respawn="false" output="screen" >
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<param name="pub_map_odom_transform" value="true"/>
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<param name="map_frame" value="map" />
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<param name="scan_topic" value="/scan" />
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<param name="base_frame" value="/laser" />
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<param name="odom_frame" value="/slamodom" />
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<param name="map_resolution" value="0.1" />
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<param name="map_size" value="500" />
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<param name="map_pub_period" value="0.5" />
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<param name="scan_subscriber_queue_size" value="100"/>
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</node>
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<node pkg="tf" type="static_transform_publisher" name="map2odom_tf_$(arg robot_name)"
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args="0 0 0 0 0 0 /slamodom /laser 5"/>
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<arg name="trajectory_source_frame_name" default="/slamodom"/>
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<arg name="trajectory_update_rate" default="4"/>
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<arg name="trajectory_publish_rate" default="0.25"/>
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<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
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<param name="target_frame_name" type="string" value="/map" />
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<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
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<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
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<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
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</node>
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<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
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<remap from="map" to="/dynamic_map" />
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<param name="map_file_path" type="string" value="$(find catvehicle)/maps" />
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<param name="map_file_base_name" type="string" value="hector_slam_map" />
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<param name="geotiff_save_period" type="double" value="0" />
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<param name="draw_background_checkerboard" type="bool" value="true" />
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<param name="draw_free_space_grid" type="bool" value="true" />
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</node>
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</launch>
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