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add topicname args to navigation launch #137

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merged 4 commits into from
Apr 5, 2020
Merged

add topicname args to navigation launch #137

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686cbe3
add topic args to navigation launch files
sktometometo Feb 11, 2020
66f6bac
fixed map_topic bugs
sktometometo Feb 11, 2020
b32814b
fixed scan_topic bug
sktometometo Feb 21, 2020
e524316
remove tabs
sktometometo Feb 22, 2020
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14 changes: 13 additions & 1 deletion fetch_navigation/launch/fetch_nav.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,12 @@
<arg name="move_base_include" default="$(find fetch_navigation)/launch/include/move_base.launch.xml" />
<arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />

<!-- set topics -->
<arg name="scan_topic" default="base_scan" />
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<arg name="map_topic" default="map" />
<arg name="cmd_vel_topic" default="cmd_vel" />
<arg name="odom_topic" default="odom" />

<!-- serve up a map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

Expand All @@ -23,12 +29,18 @@
</group>

<!-- localize the robot -->
<include file="$(arg amcl_include)" />
<include file="$(arg amcl_include)" >
<arg name="scan_topic" value="$(arg scan_topic)" />
<arg name="map_topic" value="$(arg map_topic)" />
</include>

<!-- move the robot -->
<include file="$(arg move_base_include)" >
<arg name="name" value="fetch" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include>

<!-- tilt the head -->
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14 changes: 13 additions & 1 deletion fetch_navigation/launch/freight_nav.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,12 @@
<arg name="move_base_include" default="$(find fetch_navigation)/launch/include/move_base.launch.xml" />
<arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />

<!-- set topics -->
<arg name="scan_topic" default="base_scan" />
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<arg name="map_topic" default="map" />
<arg name="cmd_vel_topic" default="cmd_vel" />
<arg name="odom_topic" default="odom" />

<!-- serve up a map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

Expand All @@ -23,12 +29,18 @@
</group>

<!-- localize the robot -->
<include file="$(arg amcl_include)" />
<include file="$(arg amcl_include)" >
<arg name="scan_topic" value="$(arg scan_topic)" />
<arg name="map_topic" value="$(arg map_topic)" />
</include>

<!-- move the robot -->
<include file="$(arg move_base_include)" >
<arg name="name" value="freight" />
<arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
<arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include>

</launch>