19 lines
817 B
XML
19 lines
817 B
XML
<!--让SPARK跑起来-->
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<launch>
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<!-- camera -->
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<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
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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/$(arg lidar_type_tel).launch">
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</include>
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<!--在rviz显示-->
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<arg name="rvizconfig" default="$(find spark_teleop)/rviz/teleop.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
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</launch>
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