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As you know, arg means an argument. As @dornhege also say, you have to choose a base of turtlebot model create, kobuki or roomba. You can check some urdf.xacro files in /turtlebot_description/robots.
create_circles_asus_xtion_pro.urdf.xacro create_circles_kinect.urdf.xacro kobuki_hexagons_asus_xtion_pro.urdf.xacro kobuki_hexagons_kinect.urdf.xacro roomba_circles_asus_xtion_pro.urdf.xacro roomba_circles_kinect.urdf.xacro
$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro
You will understand the meaning if you look at above description.
The _robot.launch is generic and accepts different turtlebot variants that can be set via args. This just selects the correct URDF. Base is Kobuki or Create base. Stacks are the plates (round/hexagonal), and 3d sensor is kinect or xtion.
Thanks, and I found that "value="$(optenv..." does the selection function.
Asked: 2014-04-23 04:10:42 -0500
Seen: 164 times
Last updated: Apr 23 '14
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