From 585d39111ea8a7076f609b7c413cfff14f302d9f Mon Sep 17 00:00:00 2001
From: "litian.zhuang" <litian.zhuang@nxrobo.com>
Date: Thu, 12 Aug 2021 20:02:04 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=BB=BA=E5=9B=BE=E6=97=B6?=
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---
 .../spark_navigation/launch/move_base.launch  | 36 +++++++++++++++++++
 .../spark_slam/launch/2d_slam.launch          |  2 +-
 .../launch/2d_slam_teleop_auto.launch         | 22 ++++++++++++
 .../base/spark_base/launch/spark_base.launch  |  2 +-
 4 files changed, 60 insertions(+), 2 deletions(-)
 create mode 100755 src/spark_app/spark_navigation/launch/move_base.launch
 create mode 100755 src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch

diff --git a/src/spark_app/spark_navigation/launch/move_base.launch b/src/spark_app/spark_navigation/launch/move_base.launch
new file mode 100755
index 0000000..92bd7c8
--- /dev/null
+++ b/src/spark_app/spark_navigation/launch/move_base.launch
@@ -0,0 +1,36 @@
+<!-- 
+    ROS navigation stack with velocity smoother and safety (reactive) controller
+-->
+<launch>
+  <include file="$(find spark_navigation)/launch/includes/velocity_smoother.launch.xml"/>
+  
+  <arg name="odom_frame_id"   default="odom"/>
+  <arg name="base_frame_id"   default="base_footprint"/>
+  <arg name="global_frame_id" default="map"/>
+  <arg name="odom_topic" default="odom" />
+  <arg name="laser_topic" default="scan" />
+  <arg name="custom_param_file" default="$(find spark_navigation)/param/3i_lidar_costmap_params.yaml"/>
+
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find spark_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />   
+    <rosparam file="$(find spark_navigation)/param/local_costmap_params.yaml" command="load" />   
+    <rosparam file="$(find spark_navigation)/param/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find spark_navigation)/param/dwa_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find spark_navigation)/param/move_base_params.yaml" command="load" />
+    <rosparam file="$(find spark_navigation)/param/global_planner_params.yaml" command="load" />
+    <rosparam file="$(find spark_navigation)/param/navfn_global_planner_params.yaml" command="load" />
+    <!-- external params file that could be loaded into the move_base namespace -->
+    <rosparam file="$(arg custom_param_file)" command="load" />
+    
+    <!-- reset frame_id parameters using user input data -->
+    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
+    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
+    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
+    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
+    <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
+    <remap from="cmd_vel" to="/navigation_velocity_smoother/raw_cmd_vel"/>
+    <remap from="odom" to="$(arg odom_topic)"/>
+    <remap from="scan" to="$(arg laser_topic)"/>
+  </node>
+</launch>
diff --git a/src/spark_app/spark_slam/launch/2d_slam.launch b/src/spark_app/spark_slam/launch/2d_slam.launch
index 9e87f47..080e15e 100755
--- a/src/spark_app/spark_slam/launch/2d_slam.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam.launch
@@ -9,7 +9,7 @@
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="start_camera"	value="false"/>
+		<arg name="start_camera"	value="true"/>
 		<arg name="camera_types"	value="$(arg camera_types)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
diff --git a/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch b/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch
new file mode 100755
index 0000000..809a690
--- /dev/null
+++ b/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch
@@ -0,0 +1,22 @@
+<!--spark 2d slam-->
+<!--SPARK技术讨论与反馈群：8346256-->
+<launch>
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
+	<!--spark slam-->
+  	<arg name="slam_methods_tel" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
+	<arg name="camera_type_tel"	default="astrapro"/>
+	<include file="$(find spark_slam)/launch/2d_slam.launch">
+		<arg name="slam_methods"	value="$(arg slam_methods_tel)"/>
+		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+ 	</include> 
+  	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
+  	<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_2d" />
+	<!--创建新的终端，确定是否保存地图-->
+  	<node pkg="spark_slam" type="cmd_save_map.sh" name="csm_2d" />
+  	  	<!-- Move base -->
+  	<arg name="custom_param_file" default="$(find spark_navigation)/param/dummy.yaml"/>
+  	<include file="$(find spark_navigation)/launch/includes/move_base.launch.xml">
+    		<arg name="custom_param_file" value="$(arg custom_param_file)"/>
+  	</include>
+</launch>
diff --git a/src/spark_driver/base/spark_base/launch/spark_base.launch b/src/spark_driver/base/spark_base/launch/spark_base.launch
index dac5bdc..5755b5c 100755
--- a/src/spark_driver/base/spark_base/launch/spark_base.launch
+++ b/src/spark_driver/base/spark_base/launch/spark_base.launch
@@ -1,5 +1,5 @@
 <!-- -->
 <launch>
-  <arg name="serialport"/> 
+  <arg name="serialport" default="/dev/sparkBase"/> 
   <node pkg="spark_base" type="spark_base_node" name="spark_base_server" args="$(arg serialport)" output="screen"/>
 </launch>