• launch/gazebo_rviz.launch
  • • debug [default: false]
    • launch_rviz [default: false]
    • world_name [default: $(find rb1_base_gazebo)/worlds/rb1_base.world]
    • rviz_config [default: $(find rb1_base_gazebo)/rviz/rb1_base_a.rviz]
• launch/rb1_base_gazebo.launch
  • • launch_rviz [default: true]
    • rviz_config [default: $(find rb1_base_gazebo)/rviz/rb1_base.rviz]
    • launch_robot_a [default: true]
    • launch_robot_b [default: false]
    • launch_robot_c [default: false]
    • gazebo_world [default: $(find rb1_base_gazebo)/worlds/rb1_base.world]
    • debug [default: false]
    • use_ros_planar_move_plugin [default: false]
    • id_robot_a [default: robot]
    • xacro_robot_a [default: rb1_base.urdf.xacro]
    • has_elevator_robot_a [default: false]
    • x_init_pose_robot_a [default: 0.0]
    • y_init_pose_robot_a [default: 0.0]
    • z_init_pose_robot_a [default: 0.0]
    • init_yaw_robot_a [default: 0.0]
    • gmapping_robot_a [default: false]
    • amcl_and_mapserver_robot_a [default: false]
    • map_file_robot_a [default: $(find rb1_base_localization)/maps/empty/map_empty.yaml]
    • map_frame_robot_a [default: $(arg id_robot_a)_map]
    • move_base_robot_a [default: false]
    • pad_robot_a [default: false]
    • id_robot_b [default: robot_b]
    • xacro_robot_b [default: rb1_base.urdf.xacro]
    • has_elevator_robot_b [default: false]
    • x_init_pose_robot_b [default: 0.0]
    • y_init_pose_robot_b [default: 1.0]
    • z_init_pose_robot_b [default: 0.0]
    • init_yaw_robot_b [default: 0.0]
    • gmapping_robot_b [default: false]
    • amcl_and_mapserver_robot_b [default: false]
    • map_file_robot_b [default: $(find rb1_base_localization)/maps/empty/map_empty.yaml]
    • map_frame_robot_b [default: $(arg id_robot_b)_map]
    • move_base_robot_b [default: false]
    • pad_robot_b [default: false]
    • id_robot_c [default: robot_c]
    • xacro_robot_c [default: rb1_base.urdf.xacro]
    • has_elevator_robot_c [default: false]
    • x_init_pose_robot_c [default: 0.0]
    • y_init_pose_robot_c [default: 2.0]
    • z_init_pose_robot_c [default: 0.0]
    • init_yaw_robot_c [default: 0.0]
    • gmapping_robot_c [default: false]
    • amcl_and_mapserver_robot_c [default: false]
    • map_file_robot_c [default: $(find rb1_base_localization)/maps/empty/map_empty.yaml]
    • map_frame_robot_c [default: $(arg id_robot_c)_map]
    • move_base_robot_c [default: false]
    • pad_robot_c [default: false]
• launch/rb1_base_one_robot.launch
  • • id_robot [default: robot]
    • xacro_robot [default: rb1_base_std.urdf.xacro]
    • has_elevator [default: false]
    • xacro_robot_elevator [default: rb1_base_elevator.urdf.xacro]
    • x_init_pose [default: 0]
    • y_init_pose [default: 0]
    • z_init_pose [default: 0]
    • init_yaw [default: 0]
    • launch_gmapping [default: false]
    • launch_amcl_and_mapserver [default: false]
    • global_frame [default: $(arg prefix)map]
    • map_file [default: $(find rb1_base_localization)/maps/empty/empty.yaml]
    • launch_move_base [default: false]
    • launch_pad [default: false]
    • use_ros_planar_move_plugin [default: false]
    • elevator_controller [default: elevator_controller]

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