+<?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="1" />
- <!-- 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" />
+ <param name="ultrasonic_laser" value="True" />
+ <!-- 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>