Migration to ros control (diff_drive_controller)

[ros_roboint.git] / launch / explorer_configuration.launch

diff --git a/launch/explorer_configuration.launch b/launch/explorer_configuration.launch
new file mode 100644 (file)
index 0000000..354522b
--- /dev/null
+++ b/launch/explorer_configuration.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch>
+       <param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
+       <!-- Load controller configurations from YAML file to parameter server -->
+       <rosparam file="$(find roboint)/config/control.yaml" command="load" />
+
+       <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen"/>
+       <node pkg="roboint" type="robo_explorer_hardware" name="robo_explorer_hw" output="screen">
+               <remap from="/diff_drive_controller/cmd_vel" to="/cmd_vel" />
+               <remap from="/diff_drive_controller/odom" to="/odom" />
+       </node>
+
+       <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen"/>
+
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+       <!-- load the controllers -->
+       <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="joint_state_controller diff_drive_controller"/>
+
+       <include file="$(find roboint)/launch/move_base.launch"/>
+</launch>