X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=explorer_configuration.launch;h=8b05a6d7873855d73a8bade7109a45c71e9bb85c;hb=be636a3bab7d3d1a37f7af18460101036b3f4cc7;hp=71d23bdfb1d20302c2ef239798927a77f1feea46;hpb=822c05d03c09295fb9687b3f58a9b9d7fbd3d170;p=ros_roboint.git

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index 71d23bd..8b05a6d 100644
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,13 +1,23 @@
+<?xml version="1.0"?>
 <launch>
+	<param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
+
 	<node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
 	</node>
 
 	<node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
 		<!-- fake laser scan with ultra sonic range finder -->
-		<param name="ultrasonic_laser" value="1" />
-		<!-- Distance between both wheels in meter (18.8cm) -->
-		<param name="wheel_dist" value="0.188" />
-		<!-- Size of wheel Diameter in meter (5.1cm) * gear ratio (0.5) = 2.55cm -->
-		<param name="wheel_size" value="0.0255" />
+		<param name="ultrasonic_laser" value="True" />
+		<!-- Distance between both wheels in meter (18.55cm) -->
+		<param name="wheel_dist" value="0.1855" />
+		<!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
+		<param name="wheel_size" value="0.02575" />
 	</node>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+	<arg name="map_file" default="$(find roboint)/config/map.png" />
+	<include file="$(find roboint)/launch/move_base.launch">
+		<arg name="map_file" value="$(arg map_file)" />
+	</include>
 </launch>