X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=launch%2Fexplorer_configuration.launch;fp=launch%2Fexplorer_configuration.launch;h=354522bc40a6525fb1a4a62f2cb4e48f917bca35;hp=0000000000000000000000000000000000000000;hb=e2df79c17569d45bd959aec083c5fd6e72ca960b;hpb=562300f16b1b50ed1b730dceb0bf1e39797677fb

diff --git a/launch/explorer_configuration.launch b/launch/explorer_configuration.launch
new file mode 100644
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>