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corrected and added launch files

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yikestone 2018-08-18 13:49:10 +05:30
parent f4dd374b00
commit 700be0214b
4 changed files with 21 additions and 13 deletions
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2
config/qt_pi_arduino_params.yaml
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@ -1,5 +1,5 @@
port: /dev/rfcomm1 port: /dev/ttyUSB0
baud: 57600 baud: 57600
timeout: 0.1 timeout: 0.1

7
launch/depth_to_laser.launch Normal file
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<launch>
<remap from="image" to="kinect2/sd/image_depth_rect"/>
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
<param name="scan_height" value="100" />
<param name="range_max" value="12" />
</node>
</launch>

8
launch/gmapping.launch Normal file
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<launch>
<node name="gmapping" pkg="gmapping" type="slam_gmapping">
<param name="base_frame" value="base_link" type="string" />
<param name="maxUrange" value="8" />
<param name="maxRange" value="12" />
<param name="minimumScore" value="50" />
</node>
</launch>

17
launch/qt_pi.launch
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@ -1,17 +1,10 @@
<launch> <launch>
<node name="arduino" pkg="qt_pi" type="arduino_node.py" output="screen">
<rosparam file="$(find qt_pi)/config/qt_pi_arduino_params.yaml" command="load" /> <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"/>
</node> <include file="$(find qt_pi)/launch/arduino.launch"/>
<include file="$(find qt_pi)/launch/depth_to_laser.launch"/>
<include file="$(find qt_pi)/launch/gmapping.launch"/>
<node name="kinect2_bridge_1455208236617866858" pkg="kinect2_bridge" type="kinect2_bridge">
</node>
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
<param name="image" value="kinect2/sd/image_depth_rect" />
</node>
<node name="gmapping" pkg="gmapping" type="slam_gmapping">
<param name="base_frame" value="base_link" type="string" />
</node>
</launch> </launch>