forked from xtdrone/XTDrone
26 lines
1.0 KiB
XML
26 lines
1.0 KiB
XML
<launch>
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<node pkg="tf" type="static_transform_publisher" name="odom_to_map"
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args="0.0 0.0 0 0.0 0.0 0.0 /odom /map 40" />
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<!-- Arguments -->
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<arg name="motion_planning" default="/home/robin/XTDrone/motion_planning/2d/"/>
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<arg name="move_forward_only" default="false"/>
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<arg name="open_rviz" default="true"/>
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<!-- Map server -->
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<node pkg="map_server" name="map_server" type="map_server" args="$(arg motion_planning)/map/indoor3.yaml"/>
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<!-- move_base -->
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<include file="$(arg motion_planning)/launch/move_base.launch">
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<arg name="motion_planning" value="$(arg motion_planning)"/>
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<arg name="move_forward_only" value="$(arg move_forward_only)"/>
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<arg name="cmd_vel_topic" default="/xtdrone/iris_0/cmd_vel_flu" />
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<arg name="odom_topic" default="/iris_0/mavros/local_position/odom" />
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</include>
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<!-- rviz -->
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<group if="$(arg open_rviz)">
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<node pkg="rviz" type="rviz" name="rviz" required="true"
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args="-d $(arg motion_planning)/rviz/2d_motion_planning.rviz"/>
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</group>
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</launch>
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