Commit f038d106 authored by Robot5's avatar Robot5
Browse files

Add maps and launch file

parent bbde3552
......@@ -5,7 +5,7 @@
<arg name="run_bag" default="false" />
<!-- Absolute Path to map to be used for localization. The map needs to be built by graph_fuser package -->
<arg name="map_file_path" default="$(find graph_map)/maps/ndt_map.MAP" />
<arg name="robot_prefix" default="robot4" />
<arg name="robot_prefix" default="robot5" />
<arg name="rviz_enabled" default="false" />
<!-- Include visualization in rviz -->
......@@ -63,7 +63,9 @@
<param name="z_filter_height" value="1.0" />
</node>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/occupancy_map.yaml" output="screen"/>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/occupancy_map.yaml" output="screen">
<remap from="/map" to="/maps/map_laser2d"/>
</node>
<group if="$(arg rviz_enabled)">
<node name="graph_map_publisher" pkg="graph_map" type="graph_map_publisher" output="screen">
......
image: occupancy_map.pgm
resolution: 0.150000
origin: [-17.85, -37.350002, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment