82 lines
2.6 KiB
XML
82 lines
2.6 KiB
XML
<launch>
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<!-- Defining the arguments -->
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<arg name="HokuyoLaser" value="0" />
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<arg name="SICKLMSLaser" value="1" />
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<arg name="P2OS_Driver" value="1" />
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<arg name="KeyboardTeleop" value="0" />
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<arg name="JoystickTeleop" value="1" />
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<arg name="Transform" value="1" />
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<arg name="Dashboard" value="0" />
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<arg name="enableMotor" value="1" />
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<arg name="enableWlanScan" value="1" />
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<arg name="enableGmapping" value="1" />
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<arg name="enableBagging" value="1" />
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<arg name="enableHeatmap" value="0" />
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<!-- Set wifi interface and start wlan logging -->
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<group if="$(arg enableWlanScan)" >
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<include file="$(find wlan_pioneer)/launch/wlanSignal.launch"/>
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</group>
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<!-- Enable the motor with rostopic pub -->
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<group if="$(arg enableMotor)" >
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<node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
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</group>
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<!-- Start the p2os ROS Driver -->
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<group if="$(arg P2OS_Driver)" >
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<node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
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</group>
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<!-- Start the Dashboard -->
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<group if="$(arg Dashboard)">
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<node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
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</group>
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<!-- Start the teleoperation node for keyboard control -->
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<group if="$(arg KeyboardTeleop)">
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<include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
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</group>
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<!-- Start the teleoperation node for joystick control -->
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<group if="$(arg JoystickTeleop)">
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<include file="$(find p2os_launch)/launch/teleop_joy.launch" />
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</group>
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<!-- Publish the required transform -->
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<group if="$(arg Transform)">
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<include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />
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</group>
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<!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
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<group if="$(arg HokuyoLaser)">
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<include file="$(find p2os_launch)/launch/hokuyo.launch" />
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</group>
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<!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
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<group if="$(arg SICKLMSLaser)">
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<include file="$(find p2os_launch)/launch/sicklms.launch" />
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</group>
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<include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
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<group if="$(arg enableGmapping)" >
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<include file="$(find p2os_launch)/launch/gmapping.launch" />
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</group>
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<group if="$(arg enableBagging)" >
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<node pkg="rosbag" type="record" name="rosbag_record_wlan"
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args="record -o /tmp/wlan_pioneer /pose /scan /tf /wlan_signal" />
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</group>
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<group if="$(arg enableHeatmap)" >
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<include file="$(find wlan_pioneer)/launch/heatmap.launch"/>
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</group>
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</launch>
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