launch/explorer_configuration.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
   4         <!-- Load controller configurations from YAML file to parameter server -->
   5         <rosparam file="$(find roboint)/config/control.yaml" command="load" />
   6
   7         <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen"/>
   8         <node pkg="roboint" type="robo_explorer_hardware" name="robo_explorer_hw" output="screen">
   9                 <remap from="/diff_drive_controller/cmd_vel" to="/cmd_vel" />
  10                 <remap from="/diff_drive_controller/odom" to="/odom" />
  11         </node>
  12
  13         <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen"/>
  14
  15         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  16
  17         <!-- load the controllers -->
  18         <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="joint_state_controller diff_drive_controller"/>
  19
  20         <include file="$(find roboint)/launch/move_base.launch"/>
  21 </launch>