From 41683be18b328ddd7c9e46086b9d52076b0d7cd8 Mon Sep 17 00:00:00 2001 From: chyoo Date: Wed, 29 Jul 2026 11:26:38 +0900 Subject: [PATCH] chore: sync NAV2 module sources --- .../launch/simulator.launch.py | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py index 3b7632e..1916b28 100644 --- a/src/nav2_turtlebot_simulator/launch/simulator.launch.py +++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py @@ -126,6 +126,26 @@ def generate_launch_description(): DeclareLaunchArgument('x_pose', default_value='-2.0'), DeclareLaunchArgument('y_pose', default_value='-0.5'), OpaqueFunction(function=launch_gazebo), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='turtlebot3_base_link_tf', + arguments=[ + '--x', '0', '--y', '0', '--z', '0.01', + '--roll', '0', '--pitch', '0', '--yaw', '0', + '--frame-id', 'base_footprint', '--child-frame-id', 'base_link', + ], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='turtlebot3_laser_tf', + arguments=[ + '--x', '-0.032', '--y', '0', '--z', '0.171', + '--roll', '0', '--pitch', '0', '--yaw', '0', + '--frame-id', 'base_link', '--child-frame-id', 'base_scan', + ], + ), IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')), condition=IfCondition(LaunchConfiguration('gui')),