TurtleBot3多机建图教程-4.编辑turtlebot3_map_merge.launch

具体路径

cd ~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch

vim turtlebot3_map_merge.launch

<launch>

  <arg name="first_tb3"  default="tb3_0"/>

  <arg name="second_tb3" default="tb3_1"/>

 

  <arg name="first_tb3_x_pos" default="-8.0"/>

  <arg name="first_tb3_y_pos" default="-1.0"/>

  <arg name="first_tb3_z_pos" default=" 0.0"/>

  <arg name="first_tb3_yaw"   default=" 0.0"/>

 

  <arg name="second_tb3_x_pos" default=" 8.0"/>

  <arg name="second_tb3_y_pos" default="-1.0"/>

  <arg name="second_tb3_z_pos" default=" 0.0"/>

  <arg name="second_tb3_yaw"   default=" 0.0"/>

 

  <group ns="$(arg first_tb3)/map_merge">

    <param name="init_pose_x"   value="$(arg first_tb3_x_pos)"/>

    <param name="init_pose_y"   value="$(arg first_tb3_y_pos)"/>

    <param name="init_pose_z"   value="$(arg first_tb3_z_pos)"/>

    <param name="init_pose_yaw" value="$(arg first_tb3_yaw)"  />

  </group>

 

  <group ns="$(arg second_tb3)/map_merge">

    <param name="init_pose_x"   value="$(arg second_tb3_x_pos)"/>

    <param name="init_pose_y"   value="$(arg second_tb3_y_pos)"/>

    <param name="init_pose_z"   value="$(arg second_tb3_z_pos)"/>

    <param name="init_pose_yaw" value="$(arg second_tb3_yaw)"  />

  </group>

 

 

  <node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">

    <param name="robot_map_topic" value="map"/>

    <param name="robot_namespace" value="tb3"/>

    <param name="merged_map_topic" value="map"/>

    <param name="world_frame" value="map"/>

    <param name="known_init_poses" value="true"/>

    <param name="merging_rate" value="0.5"/>

    <param name="discovery_rate" value="0.05"/>

    <param name="estimation_rate" value="0.1"/>

    <param name="estimation_confidence" value="1.0"/>

  </node>

 

  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg first_tb3)_tf_broadcaster"  args="0 0 0 0 0 0 /map /$(arg first_tb3)/map 100"/>

  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg second_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg second_tb3)/map 100"/>

</launch>