fix velocity message in robo_explorer

[ros_roboint.git] / explorer_configuration.launch

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index 5aadc57fdd03768dd0a1e2f9c387c3483305925a..6f8192b476b38197b1264b7b01a4746dd6f78b12 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,13 +1,18 @@
+<?xml version="1.0"?>
 <launch>
+       <param name="robot_description" textfile="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="True" />
-               <!-- 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" />
+               <!-- 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" />
 </launch>