lujinguihua

<launch>

<param name="/use_sim_time" value="flase"/>

<include file="$(find pointcloud_to_laserscan)/launch/point_to_scan.launch" />

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"

args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /rslidar 40" />

 

#### start rviz ################################################

<node pkg="rviz" type="rviz" name="rviz"

args="-d $(find laser_scan_matcher)/demo/demo_gmapping.rviz"/>

#### start the laser scan_matcher ##############################

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"

name="laser_scan_matcher_node" output="screen">

<param name="fixed_frame" value = "odom"/>

<param name="max_iterations" value="10"/>

</node>

<!-- 设置地图的配置文件 -->

<arg name="map" default="laser36.yaml" />

<!-- 运行地图服务器，并且加载设置的地图-->

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_sim)/map/$(arg map)"/>

<!-- 启动AMCL节点 -->

<include file="$(find robot_sim)/launch/amcl.launch" />

<!-- 运行move_base节点 -->

<include file="$(find robot_sim)/launch/path_planning.launch" />

<!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find robot_sim)/config/robot_mapping.rviz" /> -->

<include file="$(find scout_bringup)/launch/scout_mini_robot_base.launch" />

</launch>