Setted up launch file for AMCL and map server node

MikeS96 · Jul 14, 2020 · 5febd6d · 5febd6d
1 parent 887db00
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diff --git a/localization/where_am_i/my_robot/launch/amcl.launch b/localization/where_am_i/my_robot/launch/amcl.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+	<!-- Map Server -->
+	<arg name="map_file" default="$(find my_robot)/maps/map.yaml"/>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
+
+	<!-- AMCL Node -->
+	<node name="amcl" pkg="amcl" type="amcl" output="screen">
+		<param name="odom_frame_id" value="odom"/>
+		<param name="odom_model_type" value="diff-corrected"/>
+		<param name="base_frame_id" value="robot_footprint"/>
+		<param name="global_frame_id" value="map"/>
+
+		<!-- If you choose to define initial pose here -->
+		<param name="initial_pose_x" value="0.6"/>
+		<param name="initial_pose_y" value="-5.5"/>
+	</node>
+
+</launch>
diff --git a/...ion/where_am_i/my_robot/src/maps/map.yaml → ...ization/where_am_i/my_robot/maps/map.yaml b/...ion/where_am_i/my_robot/src/maps/map.yaml → ...ization/where_am_i/my_robot/maps/map.yaml