+<?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>
<!-- 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" />
+
+ <arg name="map_file" default="$(find roboint)/config/map.png" />
+ <include file="$(find roboint)/launch/move_base.launch">
+ <arg name="map_file" value="$(arg map_file)" />
+ </include>
</launch>