24 lines
888 B
XML
Executable File
24 lines
888 B
XML
Executable File
<launch>
|
|
<param name="/use_sim_time" value="false" />
|
|
<param name="robot_description"
|
|
textfile="$(find cartographer_ros)/urdf/twoLaser.urdf" />
|
|
|
|
<node name="robot_state_publisher" pkg="robot_state_publisher"
|
|
type="robot_state_publisher" />
|
|
|
|
<node name="cartographer_node" pkg="cartographer_ros"
|
|
type="cartographer_node" args="
|
|
-configuration_directory $(find cartographer_ros)/configuration_files
|
|
-configuration_basename twoLaser.lua"
|
|
output="screen">
|
|
<remap from="scan_1" to="up_scan" />
|
|
<remap from="scan_2" to="down_scan" />
|
|
</node>
|
|
|
|
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
|
|
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
|
|
|
|
<node name="rviz" pkg="rviz" type="rviz" required="true"
|
|
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />"
|
|
</launch>
|