turn_on_wheeltec_robot.launch

<launch> <!-- Arguments参数 --> <arg name="lidar_is_cx" default="false"/> <arg name="car_mode" default="mini_4wd" doc="opt: mini_akm,senior_akm,top_akm_bs,top_akm_dl, mini_mec,senior_mec_bs,senior_mec_dl,top_mec_bs,top_mec_dl,senior_mec_EightDrive,top_mec_EightDrive, flagship_mec_bs,flagship_mec_dl, mini_omni,senior_omni,top_omni, mini_4wd,mini_4wd_moveit,senior_4wd_bs,senior_4wd_dl,top_4wd_bs,top_4wd_dl,flagship_4wd_bs,flagship_4wd_dl, mini_tank,mini_diff,senior_diff,four_wheel_diff_bs,four_wheel_diff_dl,flagship_four_wheel_diff_dl,flagship_four_wheel_diff_bs, brushless_senior_diff, mini_mec_moveit_six,mini_4wd_moveit_six, mini_tank_moveit,mini_mec_moveit"/> <!--是否为akm系列车型 在语音导航功能中需要进行判断--> <param name="if_akm_yes_or_no" value="no"/> <!--机器人的电池容量 --> <param name="robot_BatteryCapacity" value="5000"/> <!--是否开启导航功能 在导航相关文件中开启 此处默认不开启--> <arg name="navigation" default="false"/> <arg name="pure3d_nav" default="false"/> <arg name="if_voice" default="false"/> <!--是否重复开启底层节点 在语音运行自主建图时开启 此处默认不开启--> <arg name="repeat" default="false"/> <!--是否使用cartographer建图算法 此处默认不使用--> <arg name="is_cartographer" default="false"/> <arg name="odom_frame_id" default="odom_combined"/> <!--是否使用FDI_IMU 此处默认不使用--> <arg name="use_FDI_IMU_GNSS" default="false"/> <!-- turn on base_serial 开启底层单片机的控制节点 --> <group unless="$(eval (car_mode=='mini_mec_moveit_six' or car_mode=='mini_4wd_moveit_six') and if_voice==true)" > <include file="$(find turn_on_wheeltec_robot)/launch/include/base_serial.launch" unless="$(arg repeat)"> <arg name="odom_frame_id" value="$(arg odom_frame_id)"/> <arg name="use_FDI_IMU_GNSS" value="$(arg use_FDI_IMU_GNSS)"/> </include> </group> <!-- turn on base_serial 开启机械臂底层单片机的控制节点（语音控制） --> <group if="$(eval (car_mode=='mini_mec_moveit_six' or car_mode=='mini_4wd_moveit_six') and if_voice==true)" > <!-- 开启机械臂语音相关节点 --> <include file="$(find wheeltec_arm_pick)/launch/base_serial.launch" > <arg name="if_voice_control" value="true"/> <arg name="if_camera" value="false"/> <arg name="moveit_config" value="true"/> <arg name="preset" value="true"/> </include> </group> <!--当开启导航功能时 启用导航算法选择--> <!--当开启2D或3D导航功能时--> <!-- 开启teb_local_planner导航算法 与dwa算法相比效果更佳--> <include file="$(find turn_on_wheeltec_robot)/launch/include/teb_local_planner.launch" if="$(arg navigation)"> <!-- 开启dwa_local_planner导航算法--> <!-- <include file="$(find turn_on_wheeltec_robot)/launch/include/dwa_local_planner.launch" if="$(arg navigation)"> --> <arg name="car_mode" value="$(arg car_mode)"/> </include> <!--当开启纯视觉导航功能时--> <!-- 开启teb_local_planner导航算法 与dwa算法相比效果更佳--> <include file="$(find turn_on_wheeltec_robot)/launch/include/teb_local_planner_pure3d.launch" if="$(arg pure3d_nav)"> <!-- 开启dwa_local_planner导航算法--> <!-- <include file="$(find turn_on_wheeltec_robot)/launch/include/dwa_local_planner_pure3d.launch" if="$(arg pure3d_nav)"> --> <arg name="car_mode" value="$(arg car_mode)"/> </include> <!-- 发布用于建图、导航的TF关系与小车外形可视化 --> <group unless="$(arg lidar_is_cx)"> <include file="$(find turn_on_wheeltec_robot)/launch/robot_model_visualization.launch" unless="$(arg repeat)"> <arg name="car_mode" value="$(arg car_mode)"/> <arg name="if_voice" value="$(arg if_voice)"/> </include> </group> <group if="$(arg lidar_is_cx)"> <include file="$(find turn_on_wheeltec_robot)/launch/robot_model_visualization_cx.launch" unless="$(arg repeat)"> <arg name="car_mode" value="$(arg car_mode)"/> </include> </group> <!-- 扩张卡尔曼滤波 发布odom_combined到footprint的TF,即小车定位 使用cartographer算法时不使用该滤波算法--> <include file="$(find turn_on_wheeltec_robot)/launch/include/robot_pose_ekf.launch" unless="$(arg repeat)"> <arg name="is_cartographer" value="$(arg is_cartographer)"/> </include> </launch>