23 lines
1.3 KiB
XML
23 lines
1.3 KiB
XML
<launch>
|
|
|
|
<arg name="map_file" default="$(find map_server)/maps/maze.yaml" doc="Path to a map .yaml file (required)." />
|
|
<arg name="virtual_walls_map_file" default="$(find map_server)/maps/maze_virtual_walls.yaml" doc="Path to a virtual walls map .yaml file (optional)." />
|
|
<arg name="with_virtual_walls" default="false" />
|
|
|
|
<node name="static_map_server" pkg="map_server" type="map_server" args="$(arg map_file)" ns="/lane_mask" output="screen">
|
|
<param name="frame_id" type="string" value="map"/>
|
|
<param name="type" type="int" value="16"/>
|
|
</node>
|
|
|
|
<!-- <node if="$(arg with_virtual_walls)" name="virtual_walls_map_server" pkg="map_server" type="map_server" args="$(arg virtual_walls_map_file)" ns="/virtual_walls" output="screen">
|
|
<param name="frame_id" type="string" value="map"/>
|
|
</node> -->
|
|
<!-- <arg name="direction_zones_map_file" default="$(find mir_gazebo)/maps/warehouse/direction_zones.yaml" doc="Path to a direction zones .yaml file (optional)." />
|
|
<arg name="with_direction_zones" default="true" />
|
|
<node if="$(eval direction_zones_map_file != '')" name="direction_zones_map_server" pkg="map_server" type="map_server" args="$(arg direction_zones_map_file)" ns="/direction_zones" output="screen">
|
|
<param name="frame_id" type="string" value="map"/>
|
|
<param name="type" type="int" value="16"/>
|
|
</node> -->
|
|
|
|
</launch>
|