launch !-- Arguments参数 -- arg namelidar_is_cx defaultfalse/ arg namecar_mode defaultmini_4wd docopt: 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 nameif_akm_yes_or_no valueno/ !--机器人的电池容量 -- param namerobot_BatteryCapacity value5000/ !--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 namenavigation defaultfalse/ arg namepure3d_nav defaultfalse/ arg nameif_voice defaultfalse/ !--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 namerepeat defaultfalse/ !--是否使用cartographer建图算法 此处默认不使用-- arg nameis_cartographer defaultfalse/ arg nameodom_frame_id defaultodom_combined/ !--是否使用FDI_IMU 此处默认不使用-- arg nameuse_FDI_IMU_GNSS defaultfalse/ !-- turn on base_serial 开启底层单片机的控制节点 -- group unless$(eval (car_modemini_mec_moveit_six or car_modemini_4wd_moveit_six) and if_voicetrue) include file$(find turn_on_wheeltec_robot)/launch/include/base_serial.launch unless$(arg repeat) arg nameodom_frame_id value$(arg odom_frame_id)/ arg nameuse_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_modemini_mec_moveit_six or car_modemini_4wd_moveit_six) and if_voicetrue) !-- 开启机械臂语音相关节点 -- include file$(find wheeltec_arm_pick)/launch/base_serial.launch arg nameif_voice_control valuetrue/ arg nameif_camera valuefalse/ arg namemoveit_config valuetrue/ arg namepreset valuetrue/ /include /group !--当开启导航功能时 启用导航算法选择-- !--当开启2D或3D导航功能时-- !-- 开启teb_local_planner导航算法 与dwa算法相比效果更佳-- include file$(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$(arg navigation) -- arg namecar_mode value$(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 namecar_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 namecar_mode value$(arg car_mode)/ arg nameif_voice value$(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$(arg repeat) arg namecar_mode value$(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 nameis_cartographer value$(arg is_cartographer)/ /include /launch
)
)
