launchfile

<?xml version="1.0"?>

<launch>

  <node pkg="tf" type="static_transform_publisher" name="lidar_broadcaster" args="0.11 0 0.08 3.14 0 0 base_footprint laser 100" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_footprint 100" />

  <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode">
    <param name="serial_port" value="/dev/lidar" type="str"/>
    <param name="serial_baudrate" value="115200" type="int"/>
    <param name="frame_id" value="laser" type="str"/>
    <param name="inverted" value="false" type="bool"/>
    <param name="angle_compensate" value="true" type="bool"/>
  </node>

  <arg name="config" default="$(find ca_driver)/config/default.yaml"/>

  <node name="ca_driverNode" pkg="ca_driver" type="ca_driver">
    <rosparam command="load" file="$(arg config)"/>
    <param name="robot_model" value="CREATE_2"/>
  </node>

  <node pkg="create_tf" type="lidar_tf_broadcaster.py" name="lidar_tf_broadcaster" respawn="false" />


  <node pkg="rviz" type="rviz" name="rviz"/>

  <node pkg="gmapping" type="slam_gmapping" name="gmapping">
    <param name="use_sim_time" value="false"/>
    <param name="base_frame" value="base_footprint"/>
    <param name="odom_frame" value="odom" />
    <remap from="scan" to="rplidar_scan" />
    <param name="map_update_interval" value="2.0"/>
    <param name="iterations" value="3"/>
    <param name="maxUrange" value="10.0"/>
    <param name="temporalUpdate" value="2"/>
    <param name="map_frame" value="map"/>
    <param name="delta" value="0.05" />
  </node>

<node pkg="move_base" type="move_base" respawn="false" name="create2_move_base">
    <rosparam file="$(find move_nav)/config_navStack/costmap_common.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find move_nav)/config_navStack/costmap_common.yaml" command="load" ns="local_costmap"/>
    <rosparam file="$(find move_nav)/config_navStack/costmap_global.yaml" command="load"/>
    <rosparam file="$(find move_nav)/config_navStack/costmap_local.yaml" command="load"/>

    <rosparam file="$(find move_nav)/config_navStack/local_planner_param.yaml" command="load"/>
    <param name="base_global_planner" type="string" value="carrot_planner/CarrotPlanner"/>
    <param name="controller_frequency" type="double" value="20.0"/>
    <param name="planner_frequency" type="double" value="10.0"/>
</node>

</launch>