turtlebot3_cleaner/explore/launch/explore.launch

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2022-03-14 12:24:35 +00:00
<launch>
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
</include>
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
<param name="robot_base_frame" value="base_link"/>
<param name="costmap_topic" value="map"/>
<param name="costmap_updates_topic" value="map_updates"/>
<param name="visualize" value="true"/>
<param name="planner_frequency" value="0.33"/>
<param name="progress_timeout" value="50.0"/>
<param name="potential_scale" value="3.0"/>
<param name="orientation_scale" value="0.0"/>
<param name="gain_scale" value="1.0"/>
<param name="transform_tolerance" value="0.3"/>
<param name="min_frontier_size" value="0.6"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
</node>
</launch>