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Added turtlebot launchers #1119

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aitormf merged 1 commit into from
Apr 6, 2018
Merged

Added turtlebot launchers #1119

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16 changes: 16 additions & 0 deletions scripts/launch/turtlebot-hokuyo.launch
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Original file line number Diff line number Diff line change
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<?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>
23 changes: 23 additions & 0 deletions scripts/launch/turtlebot-rplidar.launch
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<?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>