15 lines
757 B
XML
15 lines
757 B
XML
<?xml version="1.0"?>
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<launch>
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<arg name="map_file" default="$(find managerments)/maps/maze.yaml" doc="Path to a map .yaml file (required)." />
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<arg name="virtual_walls_map_file" default="$(arg map_file)" doc="Path to a virtual walls map .yaml file (optional)." />
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<arg name="with_virtual_walls" default="true" />
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<node name="static_map_server" pkg="map_server" type="map_server" args="$(arg map_file)" ns="/" output="screen">
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<param name="frame_id" type="string" value="map"/>
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</node>
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<node if="$(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">
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<param name="frame_id" type="string" value="map"/>
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</node>
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</launch>
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