72 lines
3.2 KiB
XML
Executable File
72 lines
3.2 KiB
XML
Executable File
<?xml version="1.0" ?>
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<launch>
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<arg name="robot_x" default="0.0" />
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<arg name="robot_y" default="0.0" />
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<arg name="robot_yaw" default="0.0" />
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<arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
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<arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
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<arg name="prefix" value="$(arg tf_prefix)/" if="$(eval tf_prefix != '')" /> <!-- $(arg prefix) is used in all the config files! TODO: For multiple robots, create groups when loading the parameters to overwrite the arg? -->
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<arg name="prefix" value="" unless="$(eval tf_prefix != '')" />
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<arg name="model_name" default="mir" doc="Name of the Gazebo robot model (needs to be different for each robot)" />
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<!-- Load URDF -->
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<include file="$(find mir_description)/launch/upload_mir_urdf.launch">
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<arg name="mir_type" value="$(arg mir_type)" />
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<arg name="tf_prefix" value="$(arg tf_prefix)" />
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</include>
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<!-- Spawn the robot into Gazebo -->
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model $(arg model_name)
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-x $(arg robot_x) -y $(arg robot_y) -Y $(arg robot_yaw) " />
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<!-- Load ros_control controller configurations -->
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<rosparam file="$(find mir_description)/config/joint_state_controller.yaml" command="load" />
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<rosparam file="$(find mir_description)/config/diffdrive_controller.yaml" command="load" subst_value="true" />
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<!-- Start the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen"
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args="joint_state_controller mobile_base_controller"/>
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<!-- EKF -->
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<include file="$(find mir_gazebo)/launch/includes/ekf.launch.xml">
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<arg name="tf_prefix" value="$(arg prefix)" />
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</include>
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<!-- Add passive + mimic joints to joint_states topic -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<rosparam param="source_list">[mir/joint_states]</rosparam>
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<param name="rate" value="200.0" />
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</node>
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<!-- Robot state publisher -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />
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<!-- Load teleop -->
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<node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
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<param name="default_topic" value="cmd_vel"/>
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<param name="default_vx_max" value="1.0" />
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<param name="default_vx_min" value="-1.0" />
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<param name="default_vw_max" value="1.5" />
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<param name="default_vw_min" value="-1.5" />
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</node>
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<!-- create combined scan topic (like on real MiR) -->
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<node pkg="topic_tools" type="relay" name="b_scan_relay" args="b_scan scan"/>
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<node pkg="topic_tools" type="relay" name="f_scan_relay" args="f_scan scan"/>
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<node name="b_rep117_laser_filter" pkg="mir_driver" type="rep117_filter.py" output="screen">
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<remap from="scan" to="b_scan" />
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<remap from="scan_filtered" to="b_scan_rep117" />
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</node>
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<node name="f_rep117_laser_filter" pkg="mir_driver" type="rep117_filter.py" output="screen">
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<remap from="scan" to="f_scan" />
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<remap from="scan_filtered" to="f_scan_rep117" />
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</node>
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</launch>
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