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@@ -1,7 +1,7 @@
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<!--
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Copyright: 2016-2018 www.corvin.cn
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Author: corvin
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- Description: In stdr simulator hector mapping.
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+ Description: hector mapping.
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History:
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20180601: initial this file.
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-->
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@@ -11,17 +11,16 @@
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<arg name="scan_queue_size" default="10"/>
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<arg name="base_frame" default="/base_link" />
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<arg name="odom_frame" default="/odom" />
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+ <arg name="map_frame" default="/map" />
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<arg name="scan_topic" default="/scan" />
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- <arg name="map_topic" default="/hector_map" />
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<arg name="map_size" default="512" />
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- <include file="$(find ydlidar)/launch/lidar.launch">
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+ <include file="$(find ydlidar)/launch/lidar.launch" />
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- <node pkg="hector_mapping" type="hector_mapping" name="stdr_hector_mapping" output="screen">
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- <remap from="map" to="$(arg map_topic)" />
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+ <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
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<!-- Frame names -->
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- <param name="map_frame" value="/map_static" />
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+ <param name="map_frame" value="$(arg map_frame)" />
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<param name="base_frame" value="$(arg base_frame)" />
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<param name="odom_frame" value="$(arg odom_frame)" />
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