Mastering ROS for Robotics Programming - Second Edition

Creating an amcl launch file

A typical amcl launch file is given next. The amcl node is configured inside the amcl.launch.xml file, which is in the diff_wheeled_robot_gazebo/launch/include package. The move_base node is also configured separately in the move_base.launch.xml file. The map file we created in the gmapping process is loaded here, using the map_server node:

<launch> <!-- Map server --> <arg name="map_file" default="$(find diff_wheeled_robot_gazebo)/maps/test1.yaml"/> <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" /> <include file="$(find diff_wheeled_robot_gazebo)/launch/includes/amcl.launch.xml"> <arg name="initial_pose_x" value="0"/> <arg name="initial_pose_y" value="0"/> <arg name="initial_pose_a" ...