25 lines
1.2 KiB
XML
Executable File
25 lines
1.2 KiB
XML
Executable File
<!--让SPARK跑起来-->
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<launch>
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<!-- 启动哪种摄像机 -->
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<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
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<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
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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="$(arg lidar_type_tel)"/>
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</include>
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<!-- 启动雷达 -->
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<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
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</include>
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<!--spark键盘控制 “wsad”分别代表“前后左右”-->
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<!--node pkg="spark_teleop" type="spark_teleop_node" name="spark_teleop_node" args="0.15 0.5"/-->
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<!--在rviz显示-->
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<arg name="rvizconfig" default="$(find spark_teleop)/rviz/teleop_$(arg camera_type_tel).rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
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<node pkg="spark_teleop" type="keyboard_control.sh" name="kc" />
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</launch>
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