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added xml version

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locker98 2024-12-19 14:59:33 -05:00
parent c89934a284
commit 7b328de5c1
2 changed files with 29 additions and 0 deletions
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16
locker98_tools_bringup/launch/nav2.launch.xml Normal file
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<launch>
<!-- Declare Launch Arguments -->
<arg name="use_sim_time" default="false" description="Use simulation time" />
<arg name="map" default="" description="Map input" />
<!-- Include bringup launch file -->
<include file="$(find nav2_bringup)/launch/bringup_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)" />
<arg name="map" value="$(arg map)" />
</include>
<!-- RViz node -->
<node pkg="rviz2" exec="rviz2" output="screen">
<param name="config" value="$(find locker98_tools_bringup)/rviz/nav2_config.rviz" />
</node>
</launch>

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locker98_tools_bringup/launch/slam.launch.xml Normal file
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<launch>
<arg name="use_sim_time" default="False" />
<include file="$(find-pkg-share nav2_bringup)/launch/navigation_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
</include>
<include file="$(find-pkg-share slam_toolbox)/launch/online_async_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
</include>
<node pkg="rviz2" executable="rviz2" output="screen" args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_slam.rviz" />
</launch>