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fixed xml launch file
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locker98 2024-12-20 08:43:52 -05:00
parent 80eb936283
commit 65cf4ed97f
2 changed files with 16 additions and 19 deletions
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7
docs/General ROS 2/SLAM and Navigation/Nav2.md
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@ -74,10 +74,7 @@ Here is a custom ROS 2 Launch file
=== "XML" === "XML"
This is the XML version that is much easier to understand but for some reason it does not work. There is some error with the args the makes it error every time I try to build it.
```xml title="nav2.launch.xml" linenums="1" ```xml title="nav2.launch.xml" linenums="1"
<?xml version="1.0"?>
<launch> <launch>
<!-- Declare Launch Arguments --> <!-- Declare Launch Arguments -->
<arg name="use_sim_time" default="false" description="Use simulation time" /> <arg name="use_sim_time" default="false" description="Use simulation time" />
@ -85,8 +82,8 @@ Here is a custom ROS 2 Launch file
<!-- Include bringup launch file --> <!-- Include bringup launch file -->
<include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py"> <include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)" /> <arg name="use_sim_time" value="$(var use_sim_time)" />
<arg name="map" value="$(arg map)" /> <arg name="map" value="$(var map)" />
</include> </include>
<!-- RViz node --> <!-- RViz node -->

10
docs/General ROS 2/SLAM and Navigation/SLAM.md
View File

@ -80,21 +80,21 @@ Here is a custom ROS 2 Launch file
=== "XML" === "XML"
This is the XML version that is much easier to understand but for some reason it does not work. There is some error with the args the makes it error every time I try to build it.
```xml title="slam.launch.xml" linenums="1" ```xml title="slam.launch.xml" linenums="1"
<launch> <launch>
<arg name="use_sim_time" default="False" /> <arg name="use_sim_time" default="False" />
<include file="$(find-pkg-share nav2_bringup)/launch/navigation_launch.py"> <include file="$(find-pkg-share nav2_bringup)/launch/navigation_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="use_sim_time" value="$(var use_sim_time)"/>
</include> </include>
<include file="$(find-pkg-share slam_toolbox)/launch/online_async_launch.py"> <include file="$(find-pkg-share slam_toolbox)/launch/online_async_launch.py">
<arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="use_sim_time" value="$(var use_sim_time)"/>
</include> </include>
<node pkg="rviz2" executable="rviz2" output="screen" args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_slam.rviz" /> <node pkg="rviz2" exec="rviz2" output="screen">
<param name="config" value="$(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
</node>
</launch> </launch>
``` ```