25 lines
1.4 KiB
XML
25 lines
1.4 KiB
XML
<?xml version="1.0"?>
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<launch>
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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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<!-- 启动仿真环境 -->
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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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<include file="$(find clean_robot)/launch/gazebo.launch"/>
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<!-- 启动导航系统，用作目标点路径规划，实现躲避小障碍物-->
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<include file="$(find clean_robot)/launch/turtlebot3_navigation.launch">
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<arg name="model" value="$(arg model)" />
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</include>
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<!-- 清扫路径规划器 -->
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<node pkg="clean_robot" type="path_planning_node" respawn="false" name="path_planning_node" output="screen" clear_params="true">
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<rosparam file="$(find clean_robot)/config/costmap_common_params.yaml" command="load" ns="cleaning_costmap" />
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<rosparam file="$(find clean_robot)/config/cleaning_costmap_params.yaml" command="load" />
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</node>
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<!-- 根据清扫的路径向导航系统发送目标点位 -->
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<!-- 设定距离当前目标点多进时候发布下一个目标点 -->
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<param name="/NextGoal/tolerance_goal" value="0.25" />
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<node pkg="clean_robot" type="next_goal" respawn="true" name="next_goal" output="screen" />
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</launch>
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