45 lines
2.0 KiB
Plaintext
45 lines
2.0 KiB
Plaintext
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<?xml version="1.0"?>
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<launch>
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<!-- <arg name="slam_methods" default="karto" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> -->
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<arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
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<arg name="open_rviz" default="true"/>
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<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
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<arg name="model" value="$(arg model)" />
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</include>
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<!-- 启动仿真环境 -->
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<include file="$(find clean_robot)/launch/gazebo.launch"/>
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<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
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<include file="$(find turtlebot3_slam)/launch/turtlebot3_karto.launch">
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<arg name="model" value="$(arg model)"/>
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<arg name="configuration_basename" value="$(arg configuration_basename)"/>
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</include>
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<!-- 启动 rviz 的标签 -->
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<group if="$(arg open_rviz)">
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<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find clean_robot)/rviz/turtlebot3_karto.rviz"/>
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</group>
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<!-- 通过导航来实现自动建图 -->
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<include file="$(find clean_robot)/launch/move_base.launch">
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<arg name="model" value="$(arg model)" />
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</include>
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<!-- 自动探索 -->
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<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
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<param name="robot_base_frame" value="base_link"/>
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<param name="costmap_topic" value="map"/>
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<param name="costmap_updates_topic" value="map_updates"/>
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<param name="visualize" value="true"/>
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<param name="planner_frequency" value="0.33"/>
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<param name="progress_timeout" value="50.0"/>
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<param name="potential_scale" value="3.0"/>
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<param name="orientation_scale" value="0.0"/>
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<param name="gain_scale" value="1.0"/>
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<param name="transform_tolerance" value="0.3"/>
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<param name="min_frontier_size" value="0.6"/>
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</node>
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<!-- 键盘操作 -->
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<!-- <node pkg="turtlebot3_teleop" type="turtlebot3_teleop_key" name="turtlebot3_teleop_key" launch-prefix="xterm -e" output="screen"/> -->
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</launch>
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