[launch] Delete cartographer launch and edit arguments in frontier_se…

…rver
robotics-88 · Mar 25, 2021 · 940d95f · 940d95f
1 parent ce41d01
commit 940d95f
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Showing 3 changed files with 2 additions and 60 deletions.
diff --git a/launch/3D_cartographer.launch b/launch/3D_cartographer.launch
diff --git a/launch/frontier_server.launch b/launch/frontier_server.launch
@@ -1,17 +1,16 @@
 <launch>
   <arg name="rate" default="1"/>
   <arg name="namespace" default="$(env UAV_NAMESPACE)"/>
-  <arg name="slam_ns" default="slam"/>
   <arg name="odometry" default="odometry"/>
-  <arg name="cloud_in" default="$(arg slam_ns)/submap_cloud"/>
+  <arg name="cloud_in" default="submap_cloud"/>
   <arg name="point_reached" default="exploration/point_reached"/>
   <arg name="config_filename" default="$(find uav_frontier_exploration_3d)/config/kopterworx_exploration_sim_large_env.yaml"/>
 
   <group ns="$(arg namespace)">
     <node name="frontier_server_node" pkg="uav_frontier_exploration_3d" type="frontier_server_node" output="screen">
       <param name="rate" value="$(arg rate)"/>
       <param name="exploration_config_filename" value="$(arg config_filename)"/>
-      <remap from="cloud_in" to="/$(arg cloud_in)"/>
+      <remap from="cloud_in" to="$(arg cloud_in)"/>
       <remap from="odometry" to="$(arg odometry)"/>
       <remap from="point_reached" to="$(arg point_reached)"/>
     </node>

diff --git a/launch/robot_state_publisher.launch b/launch/robot_state_publisher.launch