51 lines
1.6 KiB
XML
Executable File
51 lines
1.6 KiB
XML
Executable File
<!--
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Copyright 2018 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<arg name="bag_filenames"/>
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<arg name="no_rviz"/>
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<arg name="rviz_config"/>
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<arg name="configuration_directory"/>
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<arg name="configuration_basenames"/>
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<arg name="urdf_filenames"/>
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<arg name="launch_prefix"/>
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<param name="/use_sim_time" value="true" />
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<group unless="$(arg no_rviz)">
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<node name="rviz"
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pkg="rviz"
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type="rviz"
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required="true"
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args="-d $(arg rviz_config)" />
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<node name="cartographer_occupancy_grid_node"
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pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node"
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args="-resolution 0.05" />
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</group>
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<node name="cartographer_offline_node" pkg="cartographer_ros"
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required="$(arg no_rviz)"
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type="cartographer_offline_node" args="
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-configuration_directory $(arg configuration_directory)
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-configuration_basenames $(arg configuration_basenames)
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-urdf_filenames $(arg urdf_filenames)
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-bag_filenames $(arg bag_filenames)"
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launch-prefix="$(arg launch_prefix)"
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output="screen"/>
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</launch>
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