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[ros_wild_thumper.git] / launch / full_coverage_path_planner.launch
1 <?xml version="1.0"?>
2 <launch>
3         <arg name="coverage_area_offset" default="-5.0 -5.0 0 0 0 0"/>
4         <arg name="coverage_area_size_x" default="10"/>
5         <arg name="coverage_area_size_y" default="10"/>
6         <arg name="tool_radius" default="0.175"/>
7
8         <include file="$(find wild_thumper)/launch/move_base.launch">
9                 <arg name="base_global_planner" value="full_coverage_path_planner/SpiralSTC"/>
10                 <arg name="base_local_planner" value="pose_follower/PoseFollower"/>
11                 <arg name="tool_radius" value="$(arg tool_radius)"/>
12         </include>
13
14         <!-- Launch coverage progress tracking -->
15         <node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="$(arg coverage_area_offset) map coverage_map 100" />
16         <node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
17                 <param name="~target_area/x" value="$(arg coverage_area_size_x)" />
18                 <param name="~target_area/y" value="$(arg coverage_area_size_y)" />
19                 <param name="~coverage_radius" value="$(arg tool_radius)" />
20                 <remap from="reset" to="coverage_progress/reset" />
21                 <param name="~map_frame" value="/coverage_map"/>
22         </node>
23 </launch>