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The answer by jodafo sums up things pretty well. To add just a minor point: The mapping_default.launch file is an example launch file and has some parameters specified using the <arg> tag to facilitate reuse. If your robot for example uses 'my_base_frame' as a base_frame and 'odom' as odom frame you can use the mapping_default.launch file like so in your launch file:

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="base_frame" value="my_base_frame"/>
    <arg name="odom_frame" value="odom"/>  
  </include>

Of course, this is just optional. You can write your own launch file or specify parameters using a shorter form like here.