• launch/spawn_simulation.launch
  • • world_name [default: $(find summit_xl_gazebo)/worlds/summit_xl_office.world]
    • debug [default: false]
    • paused [default: false]
    • headless [default: false]
    • gui [default: true]
• launch/summit_xl_gazebo.launch
  • • launch_rviz [default: true]
    • launch_robot_a [default: true]
    • launch_robot_b [default: false]
    • launch_robot_c [default: false]
    • default_xacro_package [default: summit_xl_description]
    • default_xacro [default: summit_xl_std.urdf.xacro]
    • gazebo_world [default: $(find summit_xl_gazebo)/worlds/summit_xl_office.world]
    • gazebo_gui [default: true]
    • map_file [default: willow_garage/willow_garage.yaml]
    • debug [default: false]
    • omni_drive [default: false]
    • ros_planar_move_plugin [default: false]
    • launch_advanced_simulation [default: false]
    • use_gpu_for_simulation [default: false]
    • id_robot_a [default: robot]
    • x_init_pose_robot_a [default: 0]
    • y_init_pose_robot_a [default: 0]
    • z_init_pose_robot_a [default: 0]
    • ekf_localization_robot_a [default: false]
    • ekf_localization_mode_a [default: odom]
    • gmapping_robot_a [default: false]
    • move_base_robot_a [default: false]
    • amcl_and_mapserver_a [default: false]
    • map_file_a [default: $(arg map_file)]
    • xacro_robot_package_a [default: $(arg default_xacro_package)]
    • xacro_robot_a [default: $(arg default_xacro)]
    • launch_pad_a [default: false]
    • gps_latitude_robot_a [default: 39.5080331]
    • gps_longitude_robot_a [default: -0.4619816]
    • has_pantilt_camera_a [default: false]
    • launch_arm_a [default: false]
    • arm_manufacturer_a [default: trossen]
    • arm_model_a [default: vx300s]
    • launch_moveit_a [default: false]
    • id_robot_b [default: robot_b]
    • x_init_pose_robot_b [default: 0]
    • y_init_pose_robot_b [default: 1]
    • z_init_pose_robot_b [default: 0]
    • ekf_localization_robot_b [default: false]
    • ekf_localization_mode_b [default: odom]
    • gmapping_robot_b [default: false]
    • move_base_robot_b [default: false]
    • amcl_and_mapserver_b [default: false]
    • map_file_b [default: $(arg map_file)]
    • xacro_robot_package_b [default: $(arg default_xacro_package)]
    • xacro_robot_b [default: $(arg default_xacro)]
    • launch_pad_b [default: false]
    • gps_latitude_robot_b [default: 39.5080331]
    • gps_longitude_robot_b [default: -0.4619816]
    • has_pantilt_camera_b [default: false]
    • launch_arm_b [default: false]
    • arm_manufacturer_b [default: trossen]
    • arm_model_b [default: vx300s]
    • launch_moveit_b [default: false]
    • id_robot_c [default: robot_c]
    • x_init_pose_robot_c [default: 0]
    • y_init_pose_robot_c [default: 2]
    • z_init_pose_robot_c [default: 0]
    • ekf_localization_robot_c [default: false]
    • ekf_localization_mode_c [default: odom]
    • gmapping_robot_c [default: false]
    • move_base_robot_c [default: false]
    • amcl_and_mapserver_c [default: false]
    • map_file_c [default: $(arg map_file)]
    • xacro_robot_package_c [default: $(arg default_xacro_package)]
    • xacro_robot_c [default: $(arg default_xacro)]
    • launch_pad_c [default: false]
    • gps_latitude_robot_c [default: 39.5080331]
    • gps_longitude_robot_c [default: -0.4619816]
    • has_pantilt_camera_c [default: false]
    • launch_arm_c [default: false]
    • arm_manufacturer_c [default: trossen]
    • arm_model_c [default: vx300s]
    • launch_moveit_c [default: false]
• launch/summit_xl_one_robot.launch
  • • id_robot [default: robot]
    • prefix [default: $(arg id_robot)_]
    • x_init_pose [default: 0]
    • y_init_pose [default: 0]
    • z_init_pose [default: 0]
    • xacro_robot_package [default: summit_xl_description]
    • xacro_robot [default: summit_xl_std.urdf.xacro]
    • xacro_robot_path [default: $(eval find(xacro_robot_package) + '/robots/' + xacro_robot)]
    • launch_amcl_and_mapserver [default: false]
    • launch_gmapping [default: false]
    • launch_move_base [default: false]
    • launch_robot_ekf_localization [default: false]
    • robot_ekf_localization_mode [default: odom]
    • map_file [default: empty/empty.yaml]
    • movebase_local_planner [default: teb]
    • omni_drive [default: false]
    • ros_planar_move_plugin [default: false]
    • launch_pad [default: false]
    • use_gpu_for_simulation [default: false]
    • has_pantilt_camera [default: false]
    • launch_arm [default: false]
    • arm_manufacturer [default: trossen]
    • arm_model [default: vx300s]
    • launch_moveit [default: false]
    • arm_prefix [default: $(arg prefix)$(arg arm_model)]
    • launch_advanced_simulation [default: false]
    • launch_base_hw_sim [default: $(arg launch_advanced_simulation)]
    • launch_battery_estimator [default: $(arg launch_advanced_simulation)]
    • launch_perception [default: $(arg launch_advanced_simulation)]
    • launch_navigation [default: $(arg launch_advanced_simulation)]
    • launch_rlc [default: $(arg launch_advanced_simulation)]
    • launch_rlc_rostful [default: $(arg launch_advanced_simulation)]
    • launch_hmi [default: $(arg launch_advanced_simulation)]
    • rlc_rostful_host [default: localhost]
    • rlc_rostful_port [default: 8080]
    • merge_lasers [default: $(arg launch_advanced_simulation)]
    • merge_laser_topics [default: front_laser/scan rear_laser/scan]
    • gps_latitude [default: 39.5080331]
    • gps_longitude [default: -0.4619816]
• launch/gazebo_rviz.launch
  • • debug [default: false]
    • gazebo_gui [default: true]
    • launch_rviz [default: false]
    • world [default: $(find summit_xl_gazebo)/worlds/summit_xl.world]
    • file_rviz [default: summitxl_a]
• launch/spawn_robot.launch
  • • robot_id [default: $(optenv ROBOT_ID robot)]
    • prefix [default: $(arg robot_id)_]
    • x_init_pose [default: 0]
    • y_init_pose [default: 0]
    • z_init_pose [default: 0]
    • a_init_pose [default: 0]

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