102 lines
4.9 KiB
XML
102 lines
4.9 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="tf_prefix" default="" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_footprint base_link" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="imu_link_to_base_link" args="0 0 0.45 0 0 0 base_link imu_link" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="surface_to_base_link" args="0 0 0.9 0 0 0 base_link surface" />
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<include file="$(find sick_line_guidance)/launch/sick_line_guidance.launch">
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<arg name="yaml" value="$(find amr_startup)/config/sick_line_guidance_mls.yaml"/>
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</include>
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<include file="$(find mlse_tf_base_link)/launch/msle_tf_base_link.launch">
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<arg name="yaml" value="$(find amr_startup)/config/sick_line_guidance_mls.yaml"/>
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</include>
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<node pkg="diff_wheel_plugin" type="diff_wheel_feedback" name="diff_wheel_feedback" output="screen">
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<rosparam file="$(find amr_startup)/config/plc_config.yaml" command="load" />
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<param name="start_bit" value="111"/>
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<param name="end_bit" value="114"/>
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</node>
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<node pkg="diff_wheel_plugin" type="diff_wheel_controller" name="diff_wheel_controller" output="screen">
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<rosparam file="$(find amr_startup)/config/motorInfomation.yaml" command="load" />
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<param name="port_name" type="str" value="/dev/ttyTHS0"/>
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</node>
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<arg name="frame_id" default="imu_frame"/>
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<node pkg="tf2_ros" type="static_transform_publisher" name="$(arg frame_id)_to_imu_link" args="0 0 0 0 0 0 imu_link $(arg frame_id)" />
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<node pkg="wit_wt901ble_reader" name="wit_wt901ble_reader_node" type="wit_wt901ble_reader_node" output="screen">
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<param name="baudrate" type="int" value="115200"/>
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<param name="portname" type="string" value="/dev/USB_IMU"/>
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<param name="topic_name" type="string" value="/imu_data"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="imu_diagnostics_topic_name" type="string" value="/imu_diagnostics"/>
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</node>
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<node pkg="ros_kinematics" type="ros_kinematics_node" name="ros_kinematics" output="screen">
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<rosparam file="$(find amr_startup)/config/ros_diff_drive_controller.yaml" command="load" />
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<param name="use_encoder" type="bool" value="false"/>
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<param name="type" type="int" value="2"/>
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<remap from="/ros_kinematics/odom" to="/odom" />
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</node>
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<!-- <include file="$(find manual_psx)/launch/ps4.launch"></include> -->
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<!-- <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_node" clear_params="true" output="screen">
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<rosparam command="load" file="$(find amr_startup)/config/ekf.yaml" subst_value="true" />
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</node> -->
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<!-- Load URDF -->
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<include file="$(find robot_description)/launch/upload_urdf.launch">
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<arg name="robot_type" value="imr" />
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<arg name="tf_prefix" value="$(arg tf_prefix)" />
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</include>
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<!-- driver -->
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<arg name="pkg" value="olelidar"/>
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<arg name="driver" default="true"/>
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<arg name="f_device_ip" default="192.168.2.101"/>
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<arg name="f_device_port" default="2368"/>
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<arg name="local_ip" default="192.168.2.100"/>
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<arg name="multiaddr" default=""/>
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<!-- decoder -->
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<arg name="f_frame_id" default="front_laser_link"/>
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<arg name="f_topic_name" default="/f_scan"/>
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<arg name="f_r_max" default="25"/>
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<arg name="f_ang_start" default="-90"/>
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<arg name="f_ang_end" default="90"/>
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<arg name="decoder" default="true"/>
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<arg name="inverted" default="false"/>
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<arg name="f_debug" default="false"/>
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<env if="$(arg f_debug)" name="ROSCONSOLE_CONFIG_FILE" value="$(find olelidar)/launch/debug.conf"/>
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<node pkg="tf2_ros" type="static_transform_publisher" name="$(arg f_frame_id)_to_base_link" args="0.432 0 0.135 0 0 0 base_link $(arg f_frame_id)" />
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<node pkg="$(arg pkg)" type="$(arg pkg)_decoder" name="$(arg pkg)_decoder" output="screen">
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<param name="frame_id" type="string" value="$(arg f_frame_id)"/>
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<param name="r_max" type="int" value="$(arg f_r_max)"/>
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<param name="ang_start" type="int" value="$(arg f_ang_start)"/>
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<param name="ang_end" type="int" value="$(arg f_ang_end)"/>
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<param name="inverted" type="bool" value="$(arg inverted)"/>
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<param name="device_ip" type="string" value="$(arg f_device_ip)"/>
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<param name="device_port" type="int" value="$(arg f_device_port)"/>
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<param name="local_ip" type="string" value="$(arg local_ip)"/>
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<param name="multiaddr" type="string" value="$(arg multiaddr)"/>
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<remap from="~packet" to="packet"/>
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<remap from="~scan" to="$(arg f_topic_name)"/>
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</node>
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<node pkg="topic_tools" type="relay" name="f_scan_relay" args="$(arg f_topic_name) scan"/>
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<include file="$(find amr_startup)/launch/amr_control.launch"></include>
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<!-- <include file="$(find amr_startup)/launch/includes/rviz.launch"></include> -->
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<!-- <include file="$(find slam_toolbox)/launch/offline.launch"></include> -->
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</launch> |