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hector.launch
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hector.launch
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<?xml version="1.0"?>
<launch>
<!--<param name="/use_sim_time" value="true"/>-->
<include file="$(find opencv_detector)/launch/facedetector.launch">
<arg name="image_topic" value="/vrep/image" />
</include>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="nav"/>
<arg name="laser_frame" default="laser_link"/>
<arg name="camera_frame" default="camera_link"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="vrep/scan"/>
<arg name="map_size" default="1024"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<param name="odom_frame" value="$(arg laser_frame)" />
<param name="odom_frame" value="$(arg camera_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<node pkg="tf" type="static_transform_publisher" name="world2map_broadcaster" args="0 0 0 0 0 0 world map 100"/>
<node pkg="tf" type="static_transform_publisher" name="map2nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
<node pkg="tf" type="static_transform_publisher" name="nav2base_broadcaster" args="0 0 0 0 0 0 nav base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base2laser_broadcaster" args="0 0 0 0 0 0 base_link laser_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base2camera_broadcaster" args="0 0 0 0 0 0 base_link camera_link 100"/>
<node pkg="visual_servo" type="visual_servo.py" name="visual_servo" output="screen"/>
<node pkg="detection_msgs" type="patch_visualizer" name="face_visualizer" output="screen">
<remap from="camera" to="/vrep/image" />
<remap from="detections" to="/facedetector/faces" />
<param name="cleanup_delay" value="0" />
</node>
</launch>