Multi-Service-Robot/sr_bringup/launch/bringup_services.launch at master · HuyyTr/Multi-Service-Robot · GitHub

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<launch>
    <arg name="multi_robot" default="false"/>

    <arg name="wheel_diameter" default="0.165"/>
    <arg name="wheel_separation" default="0.385"/>
    <arg name="publish_frequency" default="10"/>
    <arg name="publish_tranform" default="false"/>
    <arg name="odom_link_frame" default="odom"/>
    <arg name="base_link_frame" default="base_link"/>
    <arg name="imu_link_frame" default="imu_link"/>

    <!-- load robot description -->
    <!-- <include file="$(find sr_description)/launch/srbot_empty_world.launch"/> -->

    <!-- Load the URDF into the ROS Parameter Server -->
    <param unless="$(arg multi_robot)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find sr_description)/urdf/srbot.urdf.xacro'" />

    <node pkg="robot_state_publisher" type="robot_state_publisher"
          name="robot_state_publisher" output="screen"/>

    <!-- kinematic launch file -->
    <!-- single_robot -->
    <include unless="$(arg multi_robot)" file="$(find sr_kinematic)/launch/sr_kinematic.launch">
      <arg name="wheel_diameter" value="$(arg wheel_diameter)"/>
      <arg name="wheel_separation" value="$(arg wheel_separation)"/>
      <arg name="publish_frequency" value="$(arg publish_frequency)"/>
      <arg name="publish_tranform" value="$(arg publish_tranform)"/>
      <arg name="odom_link_frame" default="odom"/>
      <arg name="base_link_frame" default="base_link"/>
      <arg name="imu_link_frame" default="imu_link"/>
    </include>

    <!-- multi_robot -->
    <include if="$(arg multi_robot)" file="$(find sr_kinematic)/launch/sr_kinematic.launch">
      <arg name="wheel_diameter" value="$(arg wheel_diameter)"/>
      <arg name="wheel_separation" value="$(arg wheel_separation)"/>
      <arg name="publish_frequency" value="$(arg publish_frequency)"/>
      <arg name="publish_tranform" value="$(arg publish_tranform)"/>
      <arg name="odom_link_frame" default="robot1_tf/odom"/>
      <arg name="base_link_frame" default="robot1_tf/base_link"/>
      <arg name="imu_link_frame" default="robot1_tf/imu_link"/>
    </include>

    <!-- setup sensor fusion by robot_localization node use EKF -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
      <rosparam command="load" file="$(find sr_bringup)/config/ekf.yaml"/>
      <remap from="odometry/filtered" to="odom"/>
    </node>

    <include file="$(find sr_navigation)/launch/navigation.launch">
        <arg name="multi_robot" value="$(arg multi_robot)"/>
    </include>

</launch>