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odom-test.launch
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odom-test.launch
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<!-- -*- mode: xml -*- -->
<launch>
<arg name="show_rviz" default="true"/>
<arg name="paused" default="false"/>
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<remap from="/scan" to="/laser_scan"/>
<!-- urdf xml robot description loaded on the Parameter Server-->
<!--param name="robot_description" command="$(find xacro)/xacro.py '$(find robot_description)/urdf/igvc.xacro'" /-->
<!--param name="robot_description" command="$(find xacro)/xacro.py '$(find robot_description)/urdf/igvc.xacro'" /-->
<!--node name="odomlink" pkg="tf" type="static_transform_publisher" args=" 0 0 0 0 0 0 map world 50"/-->
<node name="odomlink" pkg="tf" type="static_transform_publisher" args=" 0 0 0 0 0 0 odom base_footprint 50"/>
<param name="robot_description" textfile="$(find robot_description)/urdf/igvc.urdf" />
<node name="igvc_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
args="-urdf -param robot_description -model labrob" />
<!-- <node name="joy_node" pkg="joy" type="joy_node"/> -->
<!-- <arg name="joy_config" value="ps3-holonomic" /> -->
<!-- <node name="teleop_twist_joy" pkg="teleop_twist_joy" type="teleop_node" > -->
<!-- <rosparam command="load" file="$(find teleop_twist_joy)/config/$(arg joy_config).config.yaml" /> -->
<!-- </node> -->
<!-- <node name="motor_controller_test" pkg="motor_controller_test" type="joyDrive.py" output="screen" respawn="true"> -->
<!-- </node> -->
<node name="hokuyo_node" pkg="hokuyo_node" type="hokuyo_node"/>
<!-- robot visualization in Rviz -->
<group if="$(arg show_rviz)">
<!-- node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find robot_gazebo)/worlds/robot.world"/-->
<!-- include file="$(find robot_gazebo)/launch/robot_world.launch" / -->
<!-- load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find robot_control)/config/velocity_control.yaml" command="load" />
<!-- load the controllers -->
<node name="robot_controller" pkg="controller_manager" type="spawner" output="screen"
args="velocity_controller" />
<!-- publish all the frames to TF -->
<!-- node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" value="50"/>
</node -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_states">
<!--param name="robot_description" value="robot_description"/-->
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
<!--remap from="robot_description" to="different_robot_description" />
<remap from="joint_states" to="different_joint_states" /-->
</node>
</group>
<include file="src/sparton_compass_imu/GEDC-6.launch" />
<include file="ekf.launch" />
</launch>