58 lines
2.3 KiB
XML
Executable File
58 lines
2.3 KiB
XML
Executable File
<!--move2grab-->
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<!--SPARK技术讨论与反馈群：8346256-->
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<launch>
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<!-- Arguments -->
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<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
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<arg name="configuration_basename" default="spark_lds_2d.lua"/>
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<arg name="open_rviz" default="true"/>
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<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
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<!-- 摄像机类型 -->
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<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
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<!--spark底盘驱动，机器人描述,底盘,相机-->
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<include file="$(find spark_bringup)/launch/driver_bringup.launch">
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<arg name="camera_type_tel" value="$(arg camera_type_tel)"/>
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<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>
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</include>
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<!--UARM机械臂-->
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<include file="$(find swiftpro)/launch/pro_control_nomoveit.launch"/>
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<!-- 3D sensor -->
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<arg name="3d_sensor" default="3i_lidar"/>
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<!-- 启动雷达 -->
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<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
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</include>
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<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration-->
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<include file="$(find spark_slam)/launch/spark_$(arg slam_methods).launch">
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<arg name="configuration_basename" value="$(arg configuration_basename)"/>
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</include>
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<!-- Move base -->
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<arg name="custom_param_file" default="$(find spark_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>
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<include file="$(find spark_navigation)/launch/includes/move_base.launch.xml">
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<arg name="custom_param_file" value="$(arg custom_param_file)"/>
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</include>
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<!-- rviz -->
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<group if="$(arg open_rviz)">
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<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find move2grasp)/rviz/spark_$(arg slam_methods)_$(arg camera_type_tel).rviz"/>
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</group>
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<node pkg="move2grasp" type="move.py" name="move" />
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<group if="$(eval arg('camera_type_tel')=='d435')">
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<node pkg="move2grasp" type="grasp_d435.py" name="grasp" output="screen">
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<remap from="/camera/rgb/image_raw" to="/camera/color/image_raw" if="$(eval arg('camera_type_tel')=='d435')"/>
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</node>
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</group>
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<group if="$(eval arg('camera_type_tel')=='astrapro')">
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<node pkg="move2grasp" type="grasp_pro_new.py" name="grasp" />
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</group>
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</launch>
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