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>