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robot-1.launch_RViz-Gazebo_11Oct31

130s Oct 31st, 2011 58 Never
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  1. <launch>
  2.  <group ns = "crowd1">
  3.   <param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
  4.  
  5.   <node name="spawn_turtlebot_model" pkg="gazebo" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model turtlebot-1 -x 1" respawn="false" output="screen" />
  6.  
  7.   <node pkg="drive_base_tutorial" name="agent1" type="driveBase_multipleRobots" output="screen" respawn="true">
  8.    <remap from="crowd1/crowd1/turtlebot_node/cmd_vel" to="turtlebot_node/cmd_vel"/>
  9.   </node>
  10.  
  11.   <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
  12.     <rosparam command="load" file="$(find turtlebot_bringup)/config/diagnostics.yaml" />
  13.   </node>
  14.   <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
  15.     <param name="publish_frequency" type="double" value="30.0" />
  16.   </node>
  17.  
  18.   <!-- The odometry estimator -->
  19.   <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  20.     <param name="freq" value="10.0"/>
  21.     <param name="sensor_timeout" value="1.0"/>
  22.     <param name="publish_tf" value="true"/>
  23.     <param name="odom_used" value="true"/>
  24.     <param name="imu_used" value="false"/>
  25.     <param name="vo_used" value="false"/>
  26.     <remap from="imu_data" to="imu/data"/>
  27.   </node>
  28.  
  29.   <!-- throttling -->
  30.   <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
  31.     <param name="max_rate" value="20.0"/>
  32.     <remap from="cloud_in" to="/kinect_camera/points"/>
  33.     <remap from="cloud_out" to="cloud_throttled"/>
  34.   </node>
  35.  
  36.   <!-- Fake Laser -->
  37.   <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
  38.     <param name="output_frame_id" value="/kinect_depth_frame"/>
  39.     <remap from="cloud" to="/cloud_throttled"/>
  40.   </node>
  41.  
  42.  </group>
  43. </launch>
  44.  
  45.  
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