turtlebot3_robot.launch - 8BitsCoding/RobotMentor GitHub Wiki

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turtlebot3_core

  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_core.launch">
    <arg name="multi_robot_name" value="$(arg multi_robot_name)"/>
  </include>

rosserial μ‹€ν–‰

turtlebot3_lidar

  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_lidar.launch">
    <arg name="set_frame_id" value="$(arg set_lidar_frame_id)"/>
  </include>

hls_lfcd_lds_driver λ…Έλ“œμ‹€ν–‰

turtlebot3_diagnostics

  <node pkg="turtlebot3_bringup" type="turtlebot3_diagnostics" name="turtlebot3_diagnostics" output="screen"/>

μ „μ²΄μ½”λ“œ

<launch>
  <arg name="multi_robot_name" default=""/>
  <arg name="set_lidar_frame_id" default="base_scan"/>

  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_core.launch">
    <arg name="multi_robot_name" value="$(arg multi_robot_name)"/>
  </include>
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_lidar.launch">
    <arg name="set_frame_id" value="$(arg set_lidar_frame_id)"/>
  </include>

  <node pkg="turtlebot3_bringup" type="turtlebot3_diagnostics" name="turtlebot3_diagnostics" output="screen"/>
</launch>

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