jumeau_pioneer3DX/Projet/nav_bundle/launch/nav_bundle.launch

20 lines
864 B
XML

<launch>
<!-- SLAM mapping nodes -->
<node pkg="gmapping" type="slam_gmapping" name="gmapping">
<remap from="scan" to="base_scan"/>
</node>
<!-- Include move base launch file -->
<!-- Use with Pioneer Gazebo simulation and Pioneer3dx robot platform -->
<include file="$(find pioneer_2dnav)/move_base.launch"/>
<!-- Use with stagebot simulation -->
<!-- <include file="$(find stagebot_2dnav)/move_base.launch"/> -->
<!-- Recovery from stall -->
<!-- <node pkg="pioneer_ros" type="move_base_recover" name="recovery_cmd_vel" output="screen"/>-->
<!-- Move base clients for waypoint navigation -->
<node pkg="simple_navigation_goals" type="base_link_navigation_client" name="base_link_goal_client" output="screen"/>
<node pkg="simple_navigation_goals" type="map_navigation_client" name="map_goal_client" output="screen"/>
</launch>