25 lines
1.0 KiB
XML
25 lines
1.0 KiB
XML
<launch>
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<!-- move_base -->
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<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
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</include>
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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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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
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<param name="publish_frequency" type="double" value="50.0" />
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</node>
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</launch> |