From aee1b49a3790c3fccff0d0f23a21330e669b0836 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Lopez=20Gestoso=C3=A7?= <alopez@iri.upc.edu>
Date: Mon, 5 Jul 2021 16:23:52 +0200
Subject: [PATCH] Added real.launch. Rviz set to false in default
---
launch/nav_map.launch | 2 +-
launch/nav_mapping.launch | 2 +-
launch/nav_no_map.launch | 2 +-
launch/real.launch | 37 +++++++++++++++++++++++++++++++++++++
4 files changed, 40 insertions(+), 3 deletions(-)
create mode 100644 launch/real.launch
diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 87be8b8..9eea6ac 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -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="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index e231bd5..28b4f47 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -11,7 +11,7 @@
<arg name="resolution" default="0.1"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
- <arg name="rviz" default="true"/>
+ <arg name="rviz" default="false"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
diff --git a/launch/nav_no_map.launch b/launch/nav_no_map.launch
index 214e770..6b9e2b7 100644
--- a/launch/nav_no_map.launch
+++ b/launch/nav_no_map.launch
@@ -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="$(find iri_turtlebot_launch)/rviz/nav_no_map.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
diff --git a/launch/real.launch b/launch/real.launch
new file mode 100644
index 0000000..b16de69
--- /dev/null
+++ b/launch/real.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <!-- Turtlebot -->
+ <arg name="base" default="$(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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