Commit 6b2cf41e authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added an argument to specify the path of the maps.

parent 0f56e30e
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<launch> <launch>
<arg name="ns" default="robot"/> <arg name="ns" default="robot"/>
<arg name="map_path" default="$(find iri_maps)/maps/"/>
<arg name="map_name" default="empty"/> <arg name="map_name" default="empty"/>
<arg name="map_frame_id" default="map"/> <arg name="map_frame_id" default="map"/>
<arg name="map_topic" default="$(arg ns)/map"/> <arg name="map_topic" default="$(arg ns)/map"/>
...@@ -15,7 +16,7 @@ ...@@ -15,7 +16,7 @@
<node name="map_server" <node name="map_server"
pkg ="map_server" pkg ="map_server"
type="map_server" type="map_server"
args="$(find iri_maps)/maps/$(arg map_name).yaml" args="$(arg map_path)/$(arg map_name).yaml"
output="$(arg output)" output="$(arg output)"
launch-prefix="$(arg launch_prefix)"> launch-prefix="$(arg launch_prefix)">
<param name="frame_id" value="$(arg map_frame_id)"/> <param name="frame_id" value="$(arg map_frame_id)"/>
......
...@@ -17,6 +17,7 @@ ...@@ -17,6 +17,7 @@
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/> <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/> <arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/> <arg name="use_map_server" default="true"/>
<arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="willow"/> <arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/> <arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/amcl.yaml"/> <arg name="amcl_config" default="$(arg path)/amcl.yaml"/>
...@@ -39,6 +40,7 @@ ...@@ -39,6 +40,7 @@
<include file="$(find iri_rosnav)/launch/include/map_server.launch"> <include file="$(find iri_rosnav)/launch/include/map_server.launch">
<arg name="ns" value="$(arg ns)"/> <arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/> <arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/> <arg name="map_name" value="$(arg map_name)"/>
<arg name="map_topic" value="$(arg map_topic)"/> <arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/> <arg name="map_service" value="$(arg map_service)"/>
......
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