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Hello,
i'm using Ubuntu 14.04 on virtualbox and ros indigo. I only have a lms100 laser scanner (not robot system) and trying to create a map with hector-slam. So i learned that i need to modify launch files like mapping_default.launch and tutorial.launch
i figured out that these files are read-only. so how can i modify them?
Thanks,
Basak
Many of the launch files are configurable. Anything in the original launch file with the "arg" tag can be set.
If you need to heavily modify the original launch file, create your own package and copy the launch file to your new package. Then you can edit however you'd like. I would only recommend this if the original launch file arguments don't do what you need (they typically do).
Since you are using a laser scanner without a robot system, you'll need to set the base_link frame to whatever frame your laser scanner is in, since that is your "robot".
See the link I posted ( http://wiki.ros.org/roslaunch/XML/arg ).
When you include other launch files in your launch file, you can use the arg tag. See example 1.1.
If you'd like to do this on the command line, see example 1.1.2.
As a general practice, you should always have your own package that does the specific task you want. For your case, that would be bringing up the laser node and running hector slam. If you'd like to do exactly what the tutorial does, you need to ...
Hello !
If you you want to modify odom_frame and base_frame values for gmapping, you have two possible solutions: If the launch file you use requested arguments, that is to say, if you can see lines like that:
< arg name="odom_frame" default="xxx" />
< arg name="base_frame" default="yyy" />
and farther:
...$(arg odom_frame)...
...$(arg base_frame)...
----- You just have to call your launch file by adding in parameter of the command line:
odom_frame:=your_new_odom_value
and
base_frame:=your_new_base_value
Else, if you cannot see what is previously indicated, you have to write the new values you want for odom_frame and base_frame inside your gmapping config file, for example gmapping.yaml (you can choose any name you want for this file). Inside, you have to specify the new values respecting the yaml syntax. Then, inside your launch file which call the gmapping node, you load your yaml file previously created using the rosparam command.
I hope I was clear as possible
In your own launch file (that you have copied and which is not only readable) you have to add a rosparam instruction in order to load your yaml file. See this website for knowing how a launch files works and how to use the rosparam instruction:
Asked: 2016-05-11 15:48:25 -0500
Seen: 3,753 times
Last updated: May 12 '16
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