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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="output" default="screen"/> | ||
| <arg name="goal_topic" default="/move_base_simple/goal"/> | ||
| <arg name="regist_goal_topic" default="/clicked_point"/> | ||
| <arg name="config_file" default="$(find waypoint_server)/config/waypoint_server.yaml"/> | ||
| <arg name="reconfig_file" default="$(find waypoint_reconfigure)/config/reconfigure_list.yaml"/> | ||
| <group ns="waypoint_manager"> | ||
| <node pkg="waypoint_server" type="waypoint_server_node" name="waypoint_server" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| <remap from="waypoint/regist_point" to="$(arg regist_goal_topic)"/> | ||
| <param name="clear_costmap_srv" value="/move_base/clear_costmaps" /> | ||
| </node> | ||
| <node pkg="waypoint_server" type="waypoint_to_posestamped_node" name="waypoint_to_posestamped" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| <remap from="move_base_simple/goal" to="$(arg goal_topic)"/> | ||
| </node> | ||
| <node pkg="waypoint_visualization" type="waypoint_visualization_node" name="waypoint_visualization" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| <remap from="waypoint/regist_point" to="$(arg regist_goal_topic)"/> | ||
| </node> | ||
| <node pkg="goal_event_handler" type="radius_node" name="radius_node" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| </node> | ||
| <node pkg="check_robot_moving" type="check_robot_moving_node" name="check_robot_moving_node" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| <param name="mcl_pose_topic" value="/mcl_pose" /> | ||
| <param name="cmd_vel_topic" value="/icart_mini/cmd_vel" /> | ||
| <param name="clear_costmap_srv" value="/move_base/clear_costmaps" /> | ||
| </node> | ||
| <node pkg="waypoint_reconfigure" type="waypoint_reconfigure_node" name="waypoint_reconfigure_node" output="$(arg output)"> | ||
| <rosparam command="load" file="$(arg config_file)" subst_value="true"/> | ||
| <param name="file_path" value="$(arg reconfig_file)" /> | ||
| </node> | ||
| </group> | ||
| </launch> |