51 lines
3.1 KiB
XML
51 lines
3.1 KiB
XML
<launch>
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<arg name="robot_type" default="T800" doc="Can be 'hook_150' or 'imr' for now." />
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<arg name="local_planner" default="pnkx" doc="Local planner can be either dwa, dwb, eband, base, teb or pose" />
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<arg name="global_planner" default="custom" doc="Global planner can be either sbpl two_points custom"/>
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<arg name="global_plan_msg_type" default="vda5050_msgs::Order" doc="nav_msgs::Path or vda5050_msgs::Order"/>
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<arg name="primitive_filename" default="$(find amr_startup)/config/mprim/unicycle_highcost_5cm.mprim"/>
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<arg name="with_virtual_walls" default="true" doc="Enables usage of virtual walls when set. Set to false when running SLAM." />
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<arg name="prefix" default="" doc="Prefix used for robot tf frames" /> <!-- used in the config files -->
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<param name="rosconsole_config_file" value="$(find amr_startup)/rosconsole.config"/>
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<rosparam file="$(find amr_startup)/config/mqtt_general.yaml" command="load" />
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<node pkg="amr_control" type="amr_control_node" respawn="false" name="amr_node" output="screen" clear_params="true">
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<!-- robot type -->
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<rosparam param="footprint" if="$(eval robot_type == 'imr')">
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[[0.412, -0.304], [0.412, 0.304], [-0.412, 0.304], [-0.412, -0.304]]
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</rosparam>
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<!-- Footprint cho imr -->
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<rosparam param="footprint" if="$(eval robot_type == 'hook_150')">
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[[0.511,-0.1955],[0.511,0.1955],[-0.511,0.1955],[-0.511,-0.1955]]
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</rosparam>
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<rosparam param="footprint" if="$(eval robot_type == 'T800')">
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[[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
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</rosparam>
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<param name="primitive_filename" value="$(arg primitive_filename)" />
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<param name="global_plan_msg_type" value="$(arg global_plan_msg_type)" />
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<rosparam file="$(find amr_startup)/config/maker_sources.yaml" command="load" />
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<rosparam file="$(find amr_startup)/config/move_base_common_params.yaml" command="load" />
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<rosparam file="$(find amr_startup)/config/$(arg global_planner)_global_params.yaml" command="load" />
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<rosparam file="$(find amr_startup)/config/$(arg local_planner)_local_planner_params.yaml" command="load" />
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<!-- global costmap params -->
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<rosparam file="$(find amr_startup)/config/costmap_common_params.yaml" command="load" ns="global_costmap" subst_value="true" />
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<rosparam file="$(find amr_startup)/config/costmap_global_params.yaml" command="load" />
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<rosparam file="$(find amr_startup)/config/costmap_global_params_plugins_no_virtual_walls.yaml" command="load" />
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<!-- local costmap params -->
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<rosparam file="$(find amr_startup)/config/costmap_common_params.yaml" command="load" ns="local_costmap" subst_value="true" />
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<rosparam file="$(find amr_startup)/config/costmap_local_params.yaml" command="load" subst_value="true" />
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<rosparam file="$(find amr_startup)/config/costmap_local_params_plugins_no_virtual_walls.yaml" command="load" />
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<rosparam file="$(find amr_startup)/config/localization.yaml" command="load" />
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<remap from="map" to="/map" />
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<remap from="marker" to="move_base_node/markers" />
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<!-- <remap from="cmd_vel" to="/cmd_vel_1" /> -->
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</node>
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</launch>
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