launchfiles/prepare-navigation.launch at master · dudasdavid/launchfiles · GitHub

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<?xml version="1.0"?>

<launch>

    <node pkg="tf" type="static_transform_publisher" name="laser" args="-0.005 0.005 0 0 0 0 base_link laser 50" />

    <arg name="ticks_per_meter" value="1800" />
    <arg name="wheel_separation" value="0.11" />

    <node name="controller" pkg="diff_drive" type="diff_drive_controller"
          output="screen">
      <rosparam subst_value="true">
        ticks_per_meter: $(arg ticks_per_meter)
        wheel_separation: $(arg wheel_separation)
        max_motor_speed: 3000
        timeout: 1.0
      </rosparam>
    </node>

  <node name="revvy_teleop_key" pkg="revvy_teleop_ros" type="key_teleop.py" output="screen">
      <remap from="cmd_vel" to="key/cmd_vel" />
  </node>

  <arg name="teleop_config" default="$(find revvy_teleop_ros)/config/joy_teleop.yaml" />
  <rosparam file="$(arg teleop_config)" command="load" />
  <node pkg="revvy_teleop_ros" type="joy_teleop.py" name="revvy_teleop_joy">
      <remap from="cmd_vel" to="joy/cmd_vel" />
  </node>

  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <param name="output_frame" value="odom_combined"/>
    <param name="base_footprint_frame" value="base_link"/>
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <param name="debug" value="false"/>
    <param name="self_diagnose" value="false"/>
  </node>

  <node name="rviz" pkg="rviz" type="rviz" />

  <node pkg="joy" type="joy_node" name="joy_node">
      <rosparam subst_value="true">
        dev: "/dev/input/js1"
        autorepeat_rate: 20
        coalesce_interval: 0.05
      </rosparam>
  </node>


</launch>