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tutorial_04.launch
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<?xml version="1.0"?>
<launch>
<!-- ROSPlan -->
<include file="$(find rosplan_planning_system)/launch/interfaced_planning_system.launch" >
<arg name="domain_path" value="$(find rosplan_demos)/common/domain_turtlebot.pddl" />
<arg name="problem_path" value="$(find rosplan_demos)/common/problem_turtlebot.pddl" />
</include>
<!-- sim actions -->
<include file="$(find rosplan_planning_system)/launch/includes/simulated_action.launch" >
<arg name="pddl_action_name" value="undock" />
</include>
<include file="$(find rosplan_planning_system)/launch/includes/simulated_action.launch" >
<arg name="pddl_action_name" value="dock" />
</include>
<include file="$(find rosplan_planning_system)/launch/includes/simulated_action.launch" >
<arg name="pddl_action_name" value="localise" />
</include>
<include file="$(find rosplan_planning_system)/launch/includes/simulated_action.launch" >
<arg name="pddl_action_name" value="goto_waypoint" />
</include>
</launch>