remove amcl and use odom as global frame

[ros_roboint.git] / explorer_configuration.launch

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index f9e4302caeef3fdaadf927bf25f4fc5207d2e7ca..d8b8fc9a4c11723c14739bec07283949e636a405 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,9 +1,23 @@
+<?xml version="1.0"?>
 <launch>
+       <param name="robot_description" textfile="urdf/explorer.urdf" />
+
        <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
-               <param name="odom_param" value="param_value" />
        </node>
 
        <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
-               <param name="sensor_param" value="param_value" />
+               <!-- fake laser scan with ultra sonic range finder -->
+               <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" />
+
+       <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>