turtlebot3_remote.launch - 8BitsCoding/RobotMentor GitHub Wiki

  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>

turtlebot3_$(arg model).urdf.xacro 파라미터 선언

전체코드

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="multi_robot_name" default=""/>

  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" value="$(arg multi_robot_name)"/>
  </node>
</launch>

...

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