<launch> <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find wpr_simulation)/worlds/robocup_home.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="recording" value="false"/> <arg name="debug" value="false"/> </include> <!-- Spawn the objects into Gazebo --> <node name="bed" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/bed.model -x 5.0 -y -3.9 -z 0 -Y 3.14159 -urdf -model bed" /> <node name="sofa" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/sofa.model -x -1.0 -y -3.9 -z 0 -Y 1.57 -urdf -model sofa" /> <node name="tea_table" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/tea_table.model -x -2.1 -y -2.2 -z 0 -Y 1.57 -urdf -model tea_table" /> <node name="bookshelft" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/bookshelft.model -x 2.0 -y -0.55 -z 0 -Y -1.57 -urdf -model bookshelft" /> <node name="kitchen_table" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x -3.5 -y 3.7 -z 0 -Y 1.57 -urdf -model kitchen_table" /> <node name="cupboard_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/cupboard.model -x -2.0 -y 0.7 -z 0 -Y 1.57 -urdf -model cupboard_0" /> <node name="cupboard_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/cupboard.model -x -1.3 -y 3.7 -z 0 -Y -1.57 -urdf -model cupboard_1" /> <node name="dinning_table_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x 1.5 -y 1.5 -z 0 -Y 1.57 -urdf -model dinning_table_0" /> <node name="dinning_table_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x 1.5 -y 2.0 -z 0 -Y 1.57 -urdf -model dinning_table_1" /> <node name="dinning_table_2" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x 2.7 -y 1.5 -z 0 -Y 1.57 -urdf -model dinning_table_2" /> <node name="dinning_table_3" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x 2.7 -y 2.0 -z 0 -Y 1.57 -urdf -model dinning_table_3" /> <node name="chair_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/chair.model -x 1.5 -y 1.2 -z 0 -Y 1.57 -urdf -model chair_0" /> <node name="chair_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/chair.model -x 1.5 -y 2.3 -z 0 -Y -1.57 -urdf -model chair_1" /> <node name="chair_2" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/chair.model -x 2.7 -y 1.2 -z 0 -Y 1.57 -urdf -model chair_2" /> <node name="chair_3" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/chair.model -x 2.7 -y 2.3 -z 0 -Y -1.57 -urdf -model chair_3" /> <!-- Spawn a robot into Gazebo --> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/wpb_home.model -urdf -x -0.0 -y -0.0 -model wpb_home" /> <!-- Run the map server --> <node name="map_server" pkg="map_server" type="map_server" args="$(find wpr_simulation)/maps/map.yaml"/> <!--- Run AMCL --> <include file="$(find wpb_home_tutorials)/nav_lidar/amcl_omni.launch" /> <!--- Run move base --> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /> <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="use_dijkstra" value="true"/> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /> <param name= "controller_frequency" value="10" type="double"/> </node> <!-- RViz and TF tree --> <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/> <arg name="gui" default="false" /> <arg name="rvizconfig" default="$(find wpr_simulation)/rviz/nav.rviz" /> <param name="robot_description" command="$(find xacro)/xacro $(arg model)" /> <param name="use_gui" value="$(arg gui)"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > <rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" /> </node> <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> <!-- clear_costmap --> <!-- <node pkg="rover_bringup" type="clear_costmap" name="clear_costmap" /> --> <!-- <node name="jie_localization" pkg="jie_ware" type="jie_localization" /> --> </launch>