From 8bc8f5ddf385c54f8d6aba48cfe3d04cf86dc240 Mon Sep 17 00:00:00 2001
From: Aitor Martinez <aitor.martinez.fernandez@gmail.com>
Date: Fri, 6 Apr 2018 08:42:03 +0200
Subject: [PATCH] Added turtlebot launchers

---
 scripts/launch/turtlebot-hokuyo.launch  | 16 ++++++++++++++++
 scripts/launch/turtlebot-rplidar.launch | 23 +++++++++++++++++++++++
 2 files changed, 39 insertions(+)
 create mode 100644 scripts/launch/turtlebot-hokuyo.launch
 create mode 100644 scripts/launch/turtlebot-rplidar.launch

diff --git a/scripts/launch/turtlebot-hokuyo.launch b/scripts/launch/turtlebot-hokuyo.launch
new file mode 100644
index 000000000..8b367ab01
--- /dev/null
+++ b/scripts/launch/turtlebot-hokuyo.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<launch>
+
+  <include file="$(find kobuki_node)/launch/robot_with_tf.launch"/>
+
+  <node name="urg_node"          pkg="urg_node"  type="urg_node" output="screen"/>
+
+  <!--<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
+    <rosparam commandn="load" file="definition/robot/my_laser_config.yaml" />
+  </node>-->
+
+  <node pkg="tf" type="static_transform_publisher" name="bf2laser"
+    args="0 0.0 0.41 3.14 3.14 0 base_footprint laser 100"/>
+
+
+</launch>
diff --git a/scripts/launch/turtlebot-rplidar.launch b/scripts/launch/turtlebot-rplidar.launch
new file mode 100644
index 000000000..52275591f
--- /dev/null
+++ b/scripts/launch/turtlebot-rplidar.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<launch>
+
+ <arg name="laser_serial_port" default="/dev/ttyUSB0"/>
+
+  <include file="$(find kobuki_node)/launch/robot_with_tf.launch"/>
+
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  	<param name="serial_port"         type="string" value="$(arg laser_serial_port)"/>
+  	<param name="serial_baudrate"     type="int"    value="115200"/>
+  	<param name="frame_id"            type="string" value="laser"/>
+  	<param name="inverted"            type="bool"   value="false"/>
+  	<param name="angle_compensate"    type="bool"   value="true"/>
+  </node>
+
+  <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
+    <rosparam command="load" file="definition/robot/my_laser_config.yaml" />
+  </node>
+
+  <node pkg="tf" type="static_transform_publisher" name="bf2laser"
+    args="0 0.0 0.41 3.14 3.14 0 base_footprint laser 100"/>
+
+</launch>