22 lines
802 B
XML
Executable File
22 lines
802 B
XML
Executable File
<launch>
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<!--
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NOTE: You'll need to bring up something that publishes sensor data (see
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rosstage), something that publishes a map (see map_server), and something to
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visualize a costmap (see nav_view), to see things work.
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Also, on a real robot, you'd want to set the "use_sim_time" parameter to false, or just not set it.
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-->
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<param name="/use_sim_time" value="true"/>
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<!-- Publishes the voxel grid to rviz for display -->
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<node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer">
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<remap from="voxel_grid" to="costmap/voxel_grid"/>
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</node>
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<!-- Run the costmap node -->
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<node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
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<rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
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</node>
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</launch>
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