rosbot2R_ws/start_pkg/launch/start.launch at main · mmatteo-hub/rosbot2R_ws · GitHub

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<launch>

    <arg name="robot_ns" default="robot_0"/>

    <arg name="rosbot_pro" default="false" />
    <arg name="use_gazebo" default="false" />

    <arg name="teach" default="true"/>
    <arg name="recognize" default="false"/>

    <arg if="$(arg teach)" name="chosen_world" value="rosbot_world_teaching"/>
    <arg if="$(arg recognize)" name="chosen_world" value="rosbot_world_recognition"/>

    <group ns="$(arg robot_ns)">
        <!-- Gazebo -->
        <group if="$(arg use_gazebo)">
            <include file="$(find rosbot_gazebo)/launch/$(arg chosen_world).launch"/>
            <include file="$(find rosbot_description)/launch/rosbot_gazebo.launch"/>
                <param name="use_sim_time" value="true" />
        </group>

        <!-- ROSbot 2.0 -->
        <group unless="$(arg use_gazebo)">
            <param name="tf_prefix" type="string" value="$(arg robot_ns)"/>
            <include file="$(find rosbot_ekf)/launch/all.launch">
                <arg name="namespace" value="$(arg robot_ns)" />
            </include>

            <include file="$(find rplidar_ros)/launch/rplidar.launch">
                <arg name="namespace" value="$(arg robot_ns)" />
            </include>

        </group>

        <node unless="$(arg use_gazebo)" pkg="tf" type="static_transform_publisher" name="camera_publisher" args="-0.03 0 0.18 0 0 0 $(arg robot_ns)/base_link $(arg robot_ns)/camera_link 100" />

        <param name="tf_prefix" type="string" value="$(arg robot_ns)"/>
        <rosparam command="load" file="$(find joint_state_controller)/joint_state_controller.yaml" />
        <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="joint_state_controller" />

        <param name="robot_description" command="$(find xacro)/xacro '$(find rosbot_description)/urdf/rosbot.xacro'"/>

        <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>

        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

        <include file="$(find start_pkg)/src/launch/move_base.launch">
            <arg name="namespace" value="$(arg robot_ns)"/>
        </include>
    </group>

</launch>