From 47811e4a15c278a8dbf1622b351cf40c3e25a426 Mon Sep 17 00:00:00 2001 From: guanxuany <guanxuany@student.unimelb.edu.au> Date: Mon, 5 Aug 2024 16:32:03 +1000 Subject: [PATCH] gmapping --- .../src/asclinic_pkg/launch/gmapping.launch | 40 +++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 catkin_ws/src/asclinic_pkg/launch/gmapping.launch diff --git a/catkin_ws/src/asclinic_pkg/launch/gmapping.launch b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch new file mode 100644 index 00000000..6a284005 --- /dev/null +++ b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch @@ -0,0 +1,40 @@ +<launch> + <!-- Launch the RPLIDAR node --> + <group ns="asc"> + <node + pkg="rplidar_ros" + name="rplidarNode" + output="screen" + type="rplidarNode"> + <param name="serial_port" type="string" value="/dev/rplidar"/> + <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> + </group> + + <!-- Launch the robot state publisher --> + <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> + + <!-- Launch the joint state publisher --> + <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> + + <!-- Start GMapping for SLAM --> + <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" output="screen"> + <param name="base_frame" value="base_link"/> + <param name="odom_frame" value="odom"/> + <param name="map_frame" value="map"/> + <param name="delta" value="0.05"/> + <param name="xmin" value="-10.0"/> + <param name="ymin" value="-10.0"/> + <param name="xmax" value="10.0"/> + <param name="ymax" value="3.0"/> + <param name="maxUrange" value="10.0"/> + <param name="maxRange" value="10.0"/> + <remap from="scan" to="/asc/scan"/> + </node> + + <!-- Start RViz for visualization --> + <node name="rviz" pkg="rviz" type="rviz" output="screen"/> +</launch> -- GitLab