• launch/start_maps.launch
  • • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
    • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
    • with_virtual_walls [default: true]
• launch/amcl.launch
  • • tf_prefix [default: ]
    • namespace [default: $(arg tf_prefix)] — Namespace to push all topics into.
    • use_map_topic [default: true]
    • scan_topic [default: scan]
    • map_topic [default: /map]
    • map_service [default: /static_map]
    • initial_pose_x [default: 0.0]
    • initial_pose_y [default: 0.0]
    • initial_pose_a [default: 0.0]
    • odom_frame_id [default: $(arg tf_prefix)/odom_comb]
    • base_frame_id [default: $(arg tf_prefix)/base_footprint]
    • global_frame_id [default: /map]
• launch/hector_mapping.launch
  • • tf_map_scanmatch_transform_frame_name [default: scanmatcher_frame]
    • base_frame [default: base_footprint]
    • odom_frame [default: odom_comb]
    • pub_map_odom_transform [default: true]
    • scan_subscriber_queue_size [default: 5]
    • scan_topic [default: scan]
    • map_size [default: 2048]
    • disable_localization [default: false]
• launch/start_planner.launch
  • • local_planner [default: dwb] — Local planner can be either dwa, eband, base, teb or pose
    • map_file [default: $(find mir_gazebo)/maps/maze.yaml] — Path to a map .yaml file (required).
    • virtual_walls_map_file [default: $(arg map_file)] — Path to a virtual walls map .yaml file (optional).
    • with_virtual_walls [default: true]
    • prefix [default: ]
    • namespace [default: $(arg prefix)] — Namespace to push all topics into.
• launch/move_base.xml
  • • local_planner [default: dwb] — Local planner can be either dwa, base, teb or pose
    • with_virtual_walls [default: true] — Enables usage of virtual walls when set. Set to false when running SLAM.
    • prefix [default: ] — Prefix used for robot tf frames

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