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update

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HiepLM
2025-12-30 15:46:20 +07:00
parent 7b27905ad4
commit dc652575d1
69 changed files with 3834 additions and 22719 deletions
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14
Controllers/Packages/amr_startup/launch/start_maps.launch
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<?xml version="1.0"?>
<launch>
<arg name="map_file" default="$(find managerments)/maps/maze.yaml" doc="Path to a map .yaml file (required)." />
<arg name="virtual_walls_map_file" default="$(arg map_file)" doc="Path to a virtual walls map .yaml file (optional)." />
<arg name="with_virtual_walls" default="true" />
<node name="static_map_server" pkg="map_server" type="map_server" args="$(arg map_file)" ns="/" output="screen">
<param name="frame_id" type="string" value="map"/>
</node>
<node if="$(arg with_virtual_walls)" name="virtual_walls_map_server" pkg="map_server" type="map_server" args="$(arg virtual_walls_map_file)" ns="/virtual_walls" output="screen">
<param name="frame_id" type="string" value="map"/>
</node>
</launch>