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- <?xml version="1.0"?>
- <launch>
- <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
- <arg name="base_frame" default="base_link"/>
- <arg name="odom_frame" default="odom"/>
- <arg name="pub_map_odom_transform" default="false"/>
- <arg name="scan_subscriber_queue_size" default="5"/>
- <arg name="scan_topic" default="scan"/>
- <arg name="map_size" default="2048"/>
- <arg name="pub_odometry" default="true"/>
- <node pkg="hector_mapping" type="hector_mapping" name="hector_odom" > <!--output="screen"-->
- <!-- Frame names -->
- <param name="map_frame" value="map" />
- <param name="base_frame" value="$(arg base_frame)" />
- <param name="odom_frame" value="$(arg odom_frame)" />
- <!-- Tf use -->
- <param name="use_tf_scan_transformation" value="true"/>
- <param name="use_tf_pose_start_estimate" value="false"/>
- <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
- <param name="pub_odometry" value="$(arg pub_odometry)"/>
- <!-- Map size / start point -->
- <param name="map_resolution" value="0.050"/>
- <param name="map_size" value="$(arg map_size)"/>
- <param name="map_start_x" value="0.5"/>
- <param name="map_start_y" value="0.5" />
- <param name="map_multi_res_levels" value="2" />
- <!-- Map update parameters -->
- <param name="update_factor_free" value="0.4"/>
- <param name="update_factor_occupied" value="0.9" />
- <param name="map_update_distance_thresh" value="0.4"/>
- <param name="map_update_angle_thresh" value="0.06" />
- <param name="laser_z_min_value" value = "-1.0" />
- <param name="laser_z_max_value" value = "1.0" />
- <!-- Advertising config -->
- <param name="advertise_map_service" value="true"/>
- <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
- <param name="scan_topic" value="$(arg scan_topic)"/>
- <!-- Debug parameters -->
- <!--
- <param name="output_timing" value="false"/>
- <param name="pub_drawings" value="true"/>
- <param name="pub_debug_output" value="true"/>
- -->
- <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
- </node>
- <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
- </launch>
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