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"/>
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)"/>
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"/>