3 <param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
5 <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
8 <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
9 <!-- fake laser scan with ultra sonic range finder -->
10 <param name="ultrasonic_laser" value="True" />
11 <!-- Distance between both wheels in meter (18.55cm) -->
12 <param name="wheel_dist" value="0.1855" />
13 <!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
14 <param name="wheel_size" value="0.02575" />
17 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
19 <arg name="map_file" default="$(find roboint)/config/map.png" />
20 <include file="$(find roboint)/launch/move_base.launch">
21 <arg name="map_file" value="$(arg map_file)" />