turtlebot3_cleaner/clean_robot/launch/nav_slam.launch

31 lines
1.4 KiB
XML

<?xml version="1.0"?>
<launch>
<!-- <arg name="slam_methods" default="karto" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> -->
<arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="open_rviz" default="true"/>
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
</include>
<!-- 启动仿真环境 -->
<include file="$(find clean_robot)/launch/gazebo.launch"/>
<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
<include file="$(find turtlebot3_slam)/launch/turtlebot3_karto.launch">
<arg name="model" value="$(arg model)"/>
<arg name="configuration_basename" value="$(arg configuration_basename)"/>
</include>
<!-- 启动 rviz 的标签 -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find clean_robot)/rviz/turtlebot3_karto.rviz"/>
</group>
<!-- 通过导航来实现自动建图 -->
<include file="$(find clean_robot)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
</include>
<node pkg="turtlebot3_teleop" type="turtlebot3_teleop_key" name="turtlebot3_teleop_key" launch-prefix="xterm -e" output="screen"/>
</launch>