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<launch>
<!-- Show the fake localization (including the depthtolaser). -->
<!-- URDF parameter. -->
<arg name="urdf" default="bot.urdf"/>
<arg name="model" default="$(find bot_description)/urdf/$(arg urdf)"/>
<!-- Rviz configuration file parameter. -->
<arg name="cfg" default="$(find shared_demo)/rviz/localize.rviz"/>
<!-- Map Yaml File. -->
<arg name="map" default="$(find shared_demo)/maps/gazebohouse.yaml"/>
<!-- Load the URDF file into the robot_description parameter. -->
<param name="robot_description" textfile="$(arg model)"/>
<!-- Start the low-level wheelcontrol node -->
<node name="wheelcontrol"
pkg="example"
type="wheelcontrol.py"
output="screen"
required="true"/>
<!-- Start the odometry node -->
<node name="odometry"
pkg="example"
type="odometry.py"
output="screen"
required="true"/>
<!-- Start the teleop node SEPARATELY -->
<!--
<node name="teleop"
pkg="shared_demo"
type="teleop.py"
output="screen"/>
-->
<!-- Start the RealSense. I'm not enabling the pointcloud. -->
<!-- A resolution of (-1) implies using the default value. -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="depth_width" value="-1"/>
<arg name="depth_height" value="-1"/>
<arg name="depth_fps" value="30"/>
<arg name="color_width" value="-1"/>
<arg name="color_height" value="-1"/>
<arg name="color_fps" value="30"/>
<arg name="enable_pointcloud" value="false"/>
<arg name="allow_no_texture_points" value="true"/>
<!-- Replace RS2_STREAM_COLOR with RS_STREAM_ANY to -->
<!-- create the pointcloud without the RGB colors. -->
<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
</include>
<!-- Start the depth image to laser scan conversion. -->
<!-- Note I'm *NOT* using python, it is a LOT slower. -->
<node name="depthtolaserscan"
pkg="depthtolaserscan"
type="depthtolaserscan"
output="screen"/>
<!-- Start the map server -->
<node name="map_server"
pkg ="map_server"
type="map_server"
args="$(arg map)"/>
<!-- Finally start the fake localization. -->
<node name="localizatoin"
pkg="shared_demo"
type="fakelocalize.py"
output="screen">
<param name="update_fraction" value="0.3"/>
</node>
<!-- Publish all the robot frames. -->
<node name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher"/>
<!-- Run the rviz visualization, with the specified config file -->
<!-- Kill everything if this stops. -->
<node pkg="rviz"
type="rviz"
name="rviz"
args="-d $(arg cfg)"
output="screen"
required="true"/>
</launch>