90 lines
5.4 KiB
XML
Executable File
90 lines
5.4 KiB
XML
Executable File
<launch>
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<arg name="local_planner" default="dwb" doc="Local planner can be either dwa, dwb, eband, base, teb or pose" />
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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="$(arg empty_file)" doc="Path to a direction zones .yaml file (optional)." />
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<arg name="with_direction_zones" default="true" />
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<arg name="prefix" default="" />
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<arg name="namespace" default="$(arg prefix)" doc="Namespace to push all topics into."/>
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<group if="$(eval namespace != '')" ns="$(arg namespace)">
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<include file="$(find mir_navigation)/launch/start_maps.launch">
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<arg name="map_file" value="$(arg map_file)" />
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<arg name="empty_file" value="$(arg empty_file)" />
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<arg name="virtual_walls_map_file" value="$(arg virtual_walls_map_file)" />
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<arg name="with_virtual_walls" value="$(arg with_virtual_walls)" />
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<!-- Đang thử nghiệm -->
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<arg name="preferred_zones_map_file" default="$(arg preferred_zones_map_file)" doc="Path to a preferred zones .yaml file (optional)." />
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<arg name="with_preferred_zones" default="$(arg with_preferred_zones)" />
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<arg name="unpreferred_zones_map_file" default="$(arg unpreferred_zones_map_file)" doc="Path to a unpreferred zones .yaml file (optional)." />
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<arg name="with_unpreferred_zones" default="$(arg with_unpreferred_zones)" />
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<arg name="critical_zones_map_file" default="$(arg critical_zones_map_file)" doc="Path to a critical zones .yaml file (optional)." />
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<arg name="with_critical_zones" default="$(arg with_critical_zones)" />
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<arg name="direction_zones_map_file" default="$(arg direction_zones_map_file)" doc="Path to a direction zones .yaml file (optional)." />
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<arg name="with_direction_zones" default="$(arg with_direction_zones)" />
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</include>
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<include file="$(find mir_navigation)/launch/move_base.xml">
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<arg name="local_planner" value="$(arg local_planner)"/>
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<arg name="with_virtual_walls" value="$(arg with_virtual_walls)" />
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<!-- Đang thử nghiệm -->
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<arg name="with_preferred_zones" default="$(arg with_preferred_zones)" />
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<arg name="with_unpreferred_zones" default="$(arg with_unpreferred_zones)" />
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<arg name="with_critical_zones" default="$(arg with_critical_zones)" />
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<arg name="with_direction_zones" default="$(arg with_direction_zones)" />
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<arg name="prefix" value="$(arg prefix)" />
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</include>
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</group>
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<!-- Duplicate of the above in case namespace is empty. This is necessary to
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avoid the "<group> tag has an empty 'ns' attribute" parsing error. -->
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<group unless="$(eval namespace != '')">
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<include file="$(find mir_navigation)/launch/start_maps.launch">
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<arg name="map_file" value="$(arg map_file)" />
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<arg name="empty_file" value="$(arg empty_file)" />
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<arg name="virtual_walls_map_file" value="$(arg virtual_walls_map_file)" />
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<arg name="with_virtual_walls" value="$(arg with_virtual_walls)" />
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<!-- Đang thử nghiệm -->
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<arg name="preferred_zones_map_file" default="$(arg preferred_zones_map_file)" doc="Path to a preferred zones .yaml file (optional)." />
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<arg name="with_preferred_zones" default="$(arg with_preferred_zones)" />
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<arg name="unpreferred_zones_map_file" default="$(arg unpreferred_zones_map_file)" doc="Path to a unpreferred zones .yaml file (optional)." />
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<arg name="with_unpreferred_zones" default="$(arg with_unpreferred_zones)" />
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<arg name="critical_zones_map_file" default="$(arg critical_zones_map_file)" doc="Path to a critical zones .yaml file (optional)." />
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<arg name="with_critical_zones" default="$(arg with_critical_zones)" />
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<arg name="direction_zones_map_file" default="$(arg direction_zones_map_file)" doc="Path to a direction zones .yaml file (optional)." />
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<arg name="with_direction_zones" default="$(arg with_direction_zones)" />
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</include>
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<include file="$(find mir_navigation)/launch/move_base.xml">
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<arg name="local_planner" value="$(arg local_planner)"/>
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<arg name="with_virtual_walls" value="$(arg with_virtual_walls)" />
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<!-- Đang thử nghiệm -->
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<arg name="with_preferred_zones" default="$(arg with_preferred_zones)" />
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<arg name="with_unpreferred_zones" default="$(arg with_unpreferred_zones)" />
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<arg name="with_critical_zones" default="$(arg with_critical_zones)" />
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<arg name="with_direction_zones" default="$(arg with_direction_zones)" />
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<arg name="prefix" value="$(arg prefix)" />
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</include>
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</group>
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</launch>
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