27 lines
886 B
Plaintext
27 lines
886 B
Plaintext
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<launch>
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<!-- Arguments -->
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<arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="map_file" default="$(find clean_robot)/maps/clean_room.yaml"/>
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<arg name="open_rviz" default="true"/>
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<arg name="move_forward_only" default="false"/>
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<!-- Map server -->
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<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
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<!-- AMCL -->
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<include file="$(find clean_robot)/launch/amcl.launch"/>
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<!-- move_base -->
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<include file="$(find clean_robot)/launch/move_base.launch">
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<arg name="model" value="$(arg model)" />
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<arg name="move_forward_only" value="$(arg move_forward_only)"/>
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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 $(find clean_robot)/rviz/turtlebot3_navigation.rviz"/>
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</group>
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</launch>
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