forked from a2s-institute/robile_navigation
-
Notifications
You must be signed in to change notification settings - Fork 3
/
amcl.launch
22 lines (19 loc) · 797 Bytes
/
amcl.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
<?xml version="1.0"?>
<launch>
<!-- Arguments -->
<arg name="scan_topic" default="robile_john/scan_front"/>
<arg name="map_topic" default="map"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<arg name="use_map_topic" default="true"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_link"/>
<arg name="global_frame_id" default="map"/>
<node pkg="amcl" type="amcl" name="amcl">
<remap from="scan" to="$(arg scan_topic)" />
<remap from="map" to="$(arg map_topic)" />
<param name="use_map_topic" value="$(arg use_map_topic)" />
<rosparam file="$(find robile_navigation)/config/amcl.yaml" command="load" />
</node>
</launch>