explorer_configuration.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <param name="robot_description" textfile="urdf/explorer.urdf" />
   4
   5         <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
   6         </node>
   7
   8         <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
   9                 <!-- fake laser scan with ultra sonic range finder -->
  10                 <param name="ultrasonic_laser" value="True" />
  11                 <!-- Distance between both wheels in meter (18.55cm) -->
  12                 <param name="wheel_dist" value="0.1855" />
  13                 <!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
  14                 <param name="wheel_size" value="0.02575" />
  15         </node>
  16
  17         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  18 </launch>