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HiepLM
2026-05-28 10:29:58 +07:00
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simulators/sim_env/launch/include/location_methods/amcl.launch.xml Executable file
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<!--
******************************************************************************************
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
* *
* @brief Amcl method module parameter configure. *
* @author Haodong Yang, *
* @version 1.0.0 *
* @date 2022.06.30 *
* @license GNU General Public License (GPL) *
******************************************************************************************
-->
<launch>
<!-- 机器人命名空间 -->
<arg name="robot_namespace" />
<!-- 是否启用命名空间 -->
<arg name="start_ns" default="false" />
<!-- 机器人属性 -->
<arg name="robot_x" />
<arg name="robot_y" />
<arg name="robot_z" />
<node pkg="amcl" type="amcl" name="amcl">
<!-- 加载初始化默认参数 -->
<rosparam file="$(find sim_env)/config/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="$(arg robot_x)"/>
<param name="initial_pose_y" value="$(arg robot_y)"/>
<param name="initial_pose_z" value="$(arg robot_z)"/>
<!-- 为坐标系添加命名空间 -->
<param name="odom_frame_id" value="$(arg robot_namespace)/odom" if="$(arg start_ns)"/>
<param name="base_frame_id" value="$(arg robot_namespace)/base_footprint" if="$(arg start_ns)"/>
<remap from="static_map" to="/static_map"/>
</node>
</launch>