templates/lms-nav2-gazebo-simulator
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

chore: sync NAV2 module sources

Browse Source
This commit is contained in:
chyoo
2026-07-29 11:26:38 +09:00
parent 0db91a16b8
commit 41683be18b
1 changed files with 20 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nav2_turtlebot_simulator/launch/simulator.launch.py
+20
View File
@@ -126,6 +126,26 @@ def generate_launch_description():
DeclareLaunchArgument('x_pose', default_value='-2.0'), DeclareLaunchArgument('x_pose', default_value='-2.0'),
DeclareLaunchArgument('y_pose', default_value='-0.5'), DeclareLaunchArgument('y_pose', default_value='-0.5'),
OpaqueFunction(function=launch_gazebo), 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( IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')), PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')),
condition=IfCondition(LaunchConfiguration('gui')), condition=IfCondition(LaunchConfiguration('gui')),