launchfiles/revvy-operator.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 0.18 0 0 0 base_link laser 50" />

    <node name="rviz" pkg="rviz" type="rviz"
        args="-d $(find revvyframework_ros)/resources/revvy_default.rviz" />

    <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
        <param name="base_frame" value="base_link" />
        <param name="odom_frame" value="odom"/>
        <param name="output_timing" value="false"/>
        <param name="use_tf_scan_transformation" value="true"/>
        <param name="use_tf_pose_start_estimate" value="false"/>
        <param name="scan_topic" value="scan"/>
        <!-- Map size / start point -->
        <param name="map_resolution" value="0.025"/>
        <param name="map_size" value="2048"/>
        <param name="map_start_x" value="0.5"/>
        <param name="map_start_y" value="0.5" />
        <!--param name="laser_z_min_value" value="-2.5" /-->
        <!--param name="laser_z_max_value" value="3.5" /-->
        <!-- Map update parameters -->
        <param name="update_factor_free" value="0.4"/>
        <param name="update_factor_occupied" value="0.7" />
        <param name="map_update_distance_thresh" value="0.6"/>
        <param name="map_update_angle_thresh" value="0.9" />
        <param name="pub_map_odom_transform" value="true"/>
        <param name="pub_drawings" value="true"/>
        <param name="pub_debug_output" value="true"/>
    </node>

    <node name="revvy_teleop" pkg="revvy_teleop_ros" type="key_teleop.py" output="screen">
    </node>

    <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="odom_publisher" pkg="diff_drive" type="diff_drive_odometry"
        output="screen">
        <rosparam subst_value="true">
            ticks_per_meter: $(arg ticks_per_meter)
            wheel_separation: $(arg wheel_separation)
        </rosparam>
    </node>

</launch>