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add move_base with hector and karto slam #15

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add move_base with hector and karto slam #15

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19 changes: 19 additions & 0 deletions navigation_stage/launch/move_base_hector_5cm.launch
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Original file line number Diff line number Diff line change
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<launch>
<master auto="start"/>
<param name="/use_sim_time" value="true"/>
<include file="$(find navigation_stage)/move_base_config/move_base.xml"/>
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2-5cm.world" respawn="false" >
<param name="base_watchdog_timeout" value="0.2"/>
</node>

<node name="hector_mapping" pkg="hector_mapping"
type="hector_mapping">
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The problem with merging this is that this introduces a dependency on hector_mapping, and I think this package is released pretty early in our roll out of packages in a new ROS distribution, so I'd rather not add the dependency. Is it possible that these tutorials/examples could be added to the hector_mapping package or to the karto packages (for the other example) instead? Or make a new package which depends on this package, and the other two?

<remap from="scan" to="base_scan" />
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />
</node>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" />
</launch>
14 changes: 14 additions & 0 deletions navigation_stage/launch/move_base_karto_5cm.launch
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<launch>
<master auto="start"/>
<param name="/use_sim_time" value="true"/>
<include file="$(find navigation_stage)/move_base_config/move_base.xml"/>
<node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2-5cm.world" respawn="false" >
<param name="base_watchdog_timeout" value="0.2"/>
</node>

<node name="slam_karto" pkg="slam_karto" type="slam_karto">
<remap from="scan" to="base_scan" />
</node>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz" />
</launch>