22 lines
846 B
Plaintext
22 lines
846 B
Plaintext
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<launch>
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<param name="/use_sim_time" value="false" />
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<param name="robot_description"
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textfile="$(find cartographer_ros)/urdf/downLaser.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename downLaser.lua"
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output="screen">
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<remap from="scan" to="down_scan" />
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />"
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</launch>
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