added hector, cartographer launch

[ros_wild_thumper.git] / launch / hector.launch

diff --git a/launch/hector.launch b/launch/hector.launch
new file mode 100644 (file)
index 0000000..82cd102
--- /dev/null
+++ b/launch/hector.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+       <arg name="use_sim_time" default="false" />
+       <param name="/use_sim_time" value="$(arg use_sim_time)"/>
+
+       <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping">
+               <param name="pub_map_odom_transform" value="true"/>
+               <param name="map_frame" value="map" />
+               <param name="base_frame" value="base_link" />
+               <param name="odom_frame" value="odom" />
+               <param name="map_resolution" value="0.01" />
+               <param name="map_update_angle_thresh" value="0.436" />
+               <param name="laser_max_dist" value="10.0" />
+       </node>
+</launch>