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Fixes to launch files
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@max-kuzmin
max-kuzmin committed May 2, 2018
1 parent 6bc7638 commit 476bfc9
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Showing 7 changed files with 17 additions and 15 deletions.
2 changes: 1 addition & 1 deletion src/mrslam_sim/launch/_robot_m_cgmrslam.launch
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Expand Up @@ -45,7 +45,7 @@
<param name="output_topics" value="mrslam_msgs_r$(arg r_id)" />
<param name="r_count" value="$(arg r_count)" />
<param name="r_id" value="$(arg r_id)" />
<param name="range" value="6" />
<param name="range" value="10" />
<param name="base_ns" value="$(arg r_ns)" />
<param name="retrans_own_topics" value="false" />
</node>
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1 change: 1 addition & 0 deletions src/mrslam_sim/launch/_robot_m_gmapping_mexplore_mapmerge.launch
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Expand Up @@ -62,6 +62,7 @@
<param name="init_pose_yaw" value="0" />
<param name="world_frame" value="$(arg r_ns)$(arg r_id)/map_merged" />
<param name="robot_map_topic" value="map_inrange_r$(arg r_id)" />
<param name="estimation_confidence" value="0.3" />
</node>
</group>
</launch>
3 changes: 2 additions & 1 deletion src/mrslam_sim/launch/_robot_m_hectormapping_mexplore_mapmerge.launch
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Expand Up @@ -50,7 +50,7 @@
<param name="r_count" value="$(arg r_count)" />
<param name="r_id" value="$(arg r_id)" />
<param name="base_ns" value="$(arg r_ns)" />
<param name="range" value="5" />
<param name="range" value="10" />
<param name="retrans_own_topics" value="true" />
</node>

Expand All @@ -63,6 +63,7 @@
<param name="init_pose_yaw" value="0" />
<param name="world_frame" value="$(arg r_ns)$(arg r_id)/map_merged" />
<param name="robot_map_topic" value="map_inrange_r$(arg r_id)" />
<param name="estimation_confidence" value="0.3" />
</node>

</group>
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2 changes: 1 addition & 1 deletion src/mrslam_sim/launch/_robot_m_nav2dkarto.launch
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Expand Up @@ -37,7 +37,7 @@
<param name="r_count" value="$(arg r_count)" />
<param name="r_id" value="$(arg r_id)" />
<param name="base_ns" value="$(arg r_ns)" />
<param name="range" value="5" />
<param name="range" value="10" />
<param name="retrans_own_topics" value="false" />
</node>

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8 changes: 4 additions & 4 deletions src/mrslam_sim/launch/m_cgmrslam.launch
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Expand Up @@ -2,7 +2,7 @@
<arg name="gazebo_gui" default="false" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="worlds/willowgarage.world" />
<arg name="world_name" value="$(find mrslam_sim)/worlds/willowgarage.world" />
<arg name="paused" value="false" />
<arg name="use_sim_time" value="true" />
<arg name="gui" value="$(arg gazebo_gui)" />
Expand All @@ -14,7 +14,7 @@

<!--Robot 0-->
<include file="$(find mrslam_sim)/launch/_robot_m_cgmrslam.launch">
<arg name="x" value="4" />
<arg name="x" value="5" />
<arg name="y" value="-5" />
<arg name="model" value="burger" />
<arg name="r_id" value="0" />
Expand All @@ -23,8 +23,8 @@

<!--Robot 1-->
<include file="$(find mrslam_sim)/launch/_robot_m_cgmrslam.launch">
<arg name="x" value="4" />
<arg name="y" value="2" />
<arg name="x" value="11" />
<arg name="y" value="-5" />
<arg name="model" value="burger" />
<arg name="r_id" value="1" />
<arg name="r_count" value="3" />
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8 changes: 4 additions & 4 deletions src/mrslam_sim/launch/m_hectormapping_mexplore_mapmerge.launch
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Expand Up @@ -2,7 +2,7 @@
<arg name="gazebo_gui" default="false" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="worlds/willowgarage.world" />
<arg name="world_name" value="$(find mrslam_sim)/worlds/willowgarage.world" />
<arg name="paused" value="false" />
<arg name="use_sim_time" value="true" />
<arg name="gui" value="$(arg gazebo_gui)" />
Expand All @@ -14,16 +14,16 @@

<!--Robot 0-->
<include file="$(find mrslam_sim)/launch/_robot_m_hectormapping_mexplore_mapmerge.launch">
<arg name="x" value="6" />
<arg name="y" value="-6" />
<arg name="x" value="5" />
<arg name="y" value="-5" />
<arg name="r_id" value="0" />
<arg name="r_count" value="2" />
<arg name="model" value="burger" />
</include>

<!--Robot 1-->
<include file="$(find mrslam_sim)/launch/_robot_m_hectormapping_mexplore_mapmerge.launch">
<arg name="x" value="5" />
<arg name="x" value="11" />
<arg name="y" value="-5" />
<arg name="r_id" value="1" />
<arg name="r_count" value="2" />
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8 changes: 4 additions & 4 deletions src/mrslam_sim/launch/m_nav2dkarto.launch
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Expand Up @@ -2,7 +2,7 @@
<arg name="gazebo_gui" default="false" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="worlds/willowgarage.world" />
<arg name="world_name" value="$(find mrslam_sim)/worlds/willowgarage.world" />
<arg name="paused" value="false" />
<arg name="use_sim_time" value="true" />
<arg name="gui" value="$(arg gazebo_gui)" />
Expand All @@ -14,7 +14,7 @@

<!--Robot 0-->
<include file="$(find mrslam_sim)/launch/_robot_m_nav2dkarto.launch">
<arg name="x" value="4" />
<arg name="x" value="5" />
<arg name="y" value="-5" />
<arg name="model" value="burger" />
<arg name="r_id" value="0" />
Expand All @@ -23,8 +23,8 @@

<!--Robot 1-->
<include file="$(find mrslam_sim)/launch/_robot_m_nav2dkarto.launch">
<arg name="x" value="4" />
<arg name="y" value="2" />
<arg name="x" value="11" />
<arg name="y" value="-5" />
<arg name="model" value="burger" />
<arg name="r_id" value="1" />
<arg name="r_count" value="2" />
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