86 lines
3.3 KiB
XML
Executable File
86 lines
3.3 KiB
XML
Executable File
<launch>
|
|
<arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
|
|
|
|
<arg name="tf_prefix" default="" doc="TF prefix to use for all of MiR's TF frames"/>
|
|
|
|
<arg name="mir_hostname" default="192.168.12.20" />
|
|
|
|
<arg name="disable_map" default="false" doc="Disable the map topic and map -> odom TF transform from the MiR" />
|
|
|
|
<param name="tf_prefix" type="string" value="$(arg tf_prefix)"/>
|
|
|
|
<!-- URDF -->
|
|
<include file="$(find mir_description)/launch/upload_mir_urdf.launch">
|
|
<arg name="mir_type" value="$(arg mir_type)" />
|
|
</include>
|
|
|
|
<!-- Robot state publisher -->
|
|
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
|
|
<remap from="/tf" to="tf_rss" />
|
|
<remap from="/tf_static" to="tf_static_rss" />
|
|
</node>
|
|
|
|
<!-- remove those TFs that are also published by the MiR to avoid conflicts -->
|
|
<node name="tf_remove_state_publisher_frames" pkg="mir_driver" type="tf_remove_child_frames.py" output="screen">
|
|
<remap from="tf_in" to="tf_rss" />
|
|
<remap from="tf_out" to="/tf" />
|
|
<remap from="tf_static_in" to="tf_static_rss" />
|
|
<remap from="tf_static_out" to="/tf_static" />
|
|
<rosparam param="remove_frames">
|
|
- base_link
|
|
- front_laser_link
|
|
- back_laser_link
|
|
- camera_top_link
|
|
- camera_top_depth_optical_frame
|
|
- camera_floor_link
|
|
- camera_floor_depth_optical_frame
|
|
- imu_link
|
|
</rosparam>
|
|
</node>
|
|
|
|
<!-- MiR base -->
|
|
<group if="$(arg disable_map)">
|
|
<node name="mir_bridge" pkg="mir_driver" type="mir_bridge.py" output="screen">
|
|
<param name="hostname" value="$(arg mir_hostname)" />
|
|
<param name="tf_prefix" value="$(arg tf_prefix)" />
|
|
<remap from="map" to="map_mir" />
|
|
<remap from="map_metadata" to="map_metadata_mir" />
|
|
<remap from="rosout" to="/rosout" />
|
|
<remap from="rosout_agg" to="/rosout_agg" />
|
|
<remap from="tf" to="tf_mir" />
|
|
</node>
|
|
|
|
<!-- remove the map -> odom TF transform -->
|
|
<node name="tf_remove_mir_map_frame" pkg="mir_driver" type="tf_remove_child_frames.py" output="screen">
|
|
<remap from="tf_in" to="tf_mir" />
|
|
<remap from="tf_out" to="/tf" />
|
|
<rosparam param="remove_frames">
|
|
- odom
|
|
</rosparam>
|
|
</node>
|
|
</group>
|
|
<group unless="$(arg disable_map)">
|
|
<node name="mir_bridge" pkg="mir_driver" type="mir_bridge.py" output="screen">
|
|
<param name="hostname" value="$(arg mir_hostname)" />
|
|
<param name="tf_prefix" value="$(arg tf_prefix)" />
|
|
<remap from="map" to="/map" />
|
|
<remap from="map_metadata" to="/map_metadata" />
|
|
<remap from="rosout" to="/rosout" />
|
|
<remap from="rosout_agg" to="/rosout_agg" />
|
|
<remap from="tf" to="/tf" />
|
|
</node>
|
|
</group>
|
|
|
|
<node name="b_rep117_laser_filter" pkg="mir_driver" type="rep117_filter.py" output="screen">
|
|
<remap from="scan" to="b_scan" />
|
|
<remap from="scan_filtered" to="b_scan_rep117" />
|
|
</node>
|
|
|
|
<node name="f_rep117_laser_filter" pkg="mir_driver" type="rep117_filter.py" output="screen">
|
|
<remap from="scan" to="f_scan" />
|
|
<remap from="scan_filtered" to="f_scan_rep117" />
|
|
</node>
|
|
|
|
<node name="fake_mir_joint_publisher" pkg="mir_driver" type="fake_mir_joint_publisher.py" output="screen" />
|
|
</launch>
|