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HiepLM
2026-05-28 10:29:58 +07:00
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simulators/sim_env/launch/app/environment_single.launch.xml Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief Single robot startup file. *
* @author Haodong Yang *
* @version 1.0.2 *
* @date 2022.07.08 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- robot's type -->
<arg name="robot" default="turtlebot3_waffle" />
<!-- robot's namespace -->
<arg name="robot_namespace" />
<!-- whether use namespace or not -->
<arg name="start_ns" default="false" />
<!-- global path planner name -->
<arg name="global_planner" default="astar"/>
<!-- local planner name -->
<arg name="local_planner" default="dwa" />
<!-- initial pose -->
<arg name="robot_x" />
<arg name="robot_y" />
<arg name="robot_z" />
<arg name="robot_yaw" />
<!-- multi -->
<group ns = "$(arg robot_namespace)" if="$(arg start_ns)">
<param name="tf_prefix" value="$(arg robot_namespace)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
<!-- Gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
-model $(arg robot_namespace) -param robot_description"/>
<!-- AMCL定位 -->
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot_x" value="$(arg robot_x)" />
<arg name="robot_y" value="$(arg robot_y)" />
<arg name="robot_z" value="$(arg robot_z)" />
</include>
<!-- MoveBase -->
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot" value="$(arg robot)" />
<arg name="global_planner" value="$(arg global_planner)" />
<arg name="local_planner" value="$(arg local_planner)" />
</include>
</group>
<!-- single -->
<group unless="$(arg start_ns)">
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
<!-- Gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
-model $(arg robot) -param robot_description"/>
<!-- AMCL -->
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot_x" value="$(arg robot_x)" />
<arg name="robot_y" value="$(arg robot_y)" />
<arg name="robot_z" value="$(arg robot_z)" />
</include>
<!-- MoveBase-->
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
<arg name="start_ns" value="$(arg start_ns)" />
<arg name="robot" value="$(arg robot)" />
<arg name="global_planner" value="$(arg global_planner)" />
<arg name="local_planner" value="$(arg local_planner)" />
</include>
</group>
</launch>