45 lines
2.7 KiB
XML
Executable File
45 lines
2.7 KiB
XML
Executable File
<launch>
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<arg name="map_file" default="" doc="Path to a map .yaml file (required)." />
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<arg name="empty_file" default="" doc="Path to a map .yaml file (required)." />
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<arg name="virtual_walls_map_file" default="$(arg map_file)" doc="Path to a virtual walls map .yaml file (optional)." />
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<arg name="with_virtual_walls" default="true" />
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<arg name="preferred_zones_map_file" default="$(arg empty_file)" doc="Path to a preferred zones .yaml file (optional)." />
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<arg name="with_preferred_zones" default="true" />
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<arg name="unpreferred_zones_map_file" default="$(arg empty_file)" doc="Path to a unpreferred zones .yaml file (optional)." />
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<arg name="with_unpreferred_zones" default="true" />
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<arg name="critical_zones_map_file" default="$(arg empty_file)" doc="Path to a critical zones .yaml file (optional)." />
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<arg name="with_critical_zones" default="true" />
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<arg name="direction_zones_map_file" default="$(arg empty_file)" doc="Path to a direction zones .yaml file (optional)." />
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<arg name="with_direction_zones" default="true" />
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<node name="static_map_server" pkg="map_server" type="map_server" args="$(arg map_file)" ns="/" output="screen">
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<param name="frame_id" type="string" value="map"/>
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<param name="type" type="int" value="8"/>
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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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<param name="type" type="int" value="8"/>
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</node>
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<node if="$(arg with_preferred_zones)" name="preferred_zones_map_server" pkg="map_server" type="map_server" args="$(arg preferred_zones_map_file)" ns="/preferred_zones" output="screen">
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<param name="frame_id" type="string" value="map"/>
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<param name="type" type="int" value="8"/>
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</node>
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<node if="$(arg with_unpreferred_zones)" name="unpreferred_zones_map_server" pkg="map_server" type="map_server" args="$(arg unpreferred_zones_map_file)" ns="/unpreferred_zones" output="screen">
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<param name="frame_id" type="string" value="map"/>
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<param name="type" type="int" value="8"/>
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</node>
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<node if="$(arg with_critical_zones)" name="critical_zones_map_server" pkg="map_server" type="map_server" args="$(arg critical_zones_map_file)" ns="/critical_zones" output="screen">
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<param name="frame_id" type="string" value="map"/>
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<param name="type" type="int" value="8"/>
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</node>
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<node if="$(arg with_direction_zones)" name="direction_zones_map_server" pkg="map_server" type="map_server" args="$(arg direction_zones_map_file)" ns="/direction_zones" output="screen">
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<param name="frame_id" type="string" value="map"/>
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<param name="type" type="int" value="32"/>
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</node>
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</launch>
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