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