Commit aee1b49a authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added real.launch. Rviz set to false in default

parent 49eb01b3
......@@ -15,7 +15,7 @@
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz" default="false"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
......
......@@ -11,7 +11,7 @@
<arg name="resolution" default="0.1"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz" default="false"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
......
......@@ -15,7 +15,7 @@
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz" default="false"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav_no_map.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
......
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Turtlebot -->
<arg name="base" default="$(env TURTLEBOT_BASE)" doc="mobile base type [create, roomba]"/>
<arg name="battery" default="$(env TURTLEBOT_BATTERY)" doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
<arg name="stacks" default="$(env TURTLEBOT_STACKS)" doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)" doc="3d sensor types [kinect, asux_xtion_pro]"/>
<arg name="simulation" default="$(env TURTLEBOT_SIMULATION)" doc="set flags to indicate this turtle is run in simulation mode."/>
<arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)" doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />
</include>
<include unless="$(eval arg('battery') == 'None')" file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="rgb_processing" value="false" />
<arg name="depth_registration" value="false" />
<arg name="depth_processing" value="false" />
<!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->
<arg name="scan_topic" value="/scan" />
</include>
</launch>
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