55 lines
2.0 KiB
XML
55 lines
2.0 KiB
XML
<!--
|
|
|
|
Author: Jonathan Sprinkle
|
|
Copyright (c) 2015-2016 Arizona Board of Regents
|
|
All rights reserved.
|
|
|
|
Permission is hereby granted, without written agreement and without
|
|
license or royalty fees, to use, copy, modify, and distribute this
|
|
software and its documentation for any purpose, provided that the
|
|
above copyright notice and the following two paragraphs appear in
|
|
all copies of this software.
|
|
|
|
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
|
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
|
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
|
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
|
SUCH DAMAGE.
|
|
|
|
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
|
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
|
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
|
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
|
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
|
|
|
Summary:
|
|
=======
|
|
This launch file integrates hector slam with the car's various topics
|
|
and frames, including the laser topic from the front of the car.
|
|
|
|
How to execute it:
|
|
=================
|
|
After starting up a simulation that includes the CAT Vehicle, then:
|
|
|
|
roslaunch catvehicle hectorslam.launch
|
|
|
|
|
|
-->
|
|
|
|
<launch>
|
|
|
|
<arg name="robot_name" default="ugv_0"/>
|
|
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" respawn="false" output="screen" >
|
|
<param name="pub_map_odom_transform" value="true"/>
|
|
<param name="map_frame" value="map" />
|
|
<param name="scan_topic" value="/$(arg robot_name)/front_laser_points" />
|
|
<param name="base_frame" value="$(arg robot_name)/base_link" />
|
|
<param name="odom_frame" value="$(arg robot_name)/odom" />
|
|
<param name="map_resolution" value="1" />
|
|
<param name="map_size" value="200" />
|
|
<param name="map_pub_period" value="0.5" />
|
|
<param name="scan_subscriber_queue_size" value="100"/>
|
|
</node>
|
|
|
|
</launch>
|