From cd5de92eb46a5d09fa4f21c0ee13cdcff850a1e7 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 20 Feb 2020 16:19:27 +0100
Subject: [PATCH] Add demo and people launch files
---
launch/demo.launch | 32 ++++++++++++++++++++++++++++++++
launch/people.launch | 19 +++++++++++++++++++
launch/ps3_teleop.launch | 11 +++++------
3 files changed, 56 insertions(+), 6 deletions(-)
create mode 100644 launch/demo.launch
create mode 100644 launch/people.launch
diff --git a/launch/demo.launch b/launch/demo.launch
new file mode 100644
index 0000000..9f94fe0
--- /dev/null
+++ b/launch/demo.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="name" default="ana" />
+ <arg name="model" default="$(arg name)"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_ana_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <include file="$(find iri_ana_description)/launch/description.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="model" value="$(arg model)"/>
+ <arg name="static_wheels" value="true"/>
+ </include>
+
+ <include file="$(find iri_ana_rosnav)/launch/nav_map.launch">
+ <arg name="map_name" value="master_big"/>
+ <arg name="rviz" value="false"/>
+ </include>
+
+ <include file="$(find iri_ana_launch)/launch/ps3_teleop.launch">
+ </include>
+
+ <include file="$(find iri_ana_launch)/launch/people.launch">
+ </include>
+
+</launch>
diff --git a/launch/people.launch b/launch/people.launch
new file mode 100644
index 0000000..ecb61a2
--- /dev/null
+++ b/launch/people.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="ana" />
+ <arg name="output" default="screen" />
+ <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
+ <arg name="map_topic" default="/$(arg ns)/map"/>
+ <arg name="tracks_topic" default="/$(arg ns)/mht/tracks"/>
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_people_tracking_mht)/launch/test_robot.launch">
+ <arg name="ns" value="$(arg ns)" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="map_topic" value="$(arg map_topic)"/>
+ <arg name="tracks_topic" value="$(arg tracks_topic)"/>
+ </include>
+</launch>
diff --git a/launch/ps3_teleop.launch b/launch/ps3_teleop.launch
index abdc56c..58af8f0 100644
--- a/launch/ps3_teleop.launch
+++ b/launch/ps3_teleop.launch
@@ -3,19 +3,18 @@
<launch>
<arg name="ns" default="ana" />
- <arg name="path" default="$(find iri_teleop_launch)"/>
- <arg name="config_file" default="$(arg path)/config/ps3_bt_teleop.yaml" />
- <arg name="twist_topic" default="/$(arg ns)/cmd_vel"/>
+ <arg name="config_file" default="$(find iri_ana_bringup)/config/ana_ps3_bt_teleop.yaml" />-->
+ <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
<arg name="joy_topic" default="/$(arg ns)/joy"/>
<arg name="run_joy" default="true"/>
- <arg name="device" default="/dev/input/js0" />
- <arg name="joy_config_file" default="$(arg path)/config/joy.yaml" />
+ <arg name="device" default="/dev/input/js1" />
+ <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml" />
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_teleop_launch)/launch/joystick_teleop.launch">
<arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(arg path)"/>
+ <arg name="path" value="$(find iri_teleop_launch)"/>
<arg name="config_file" value="$(arg config_file)"/>
<arg name="twist_topic" value="$(arg twist_topic)"/>
<arg name="joy_topic" value="$(arg joy_topic)"/>
--
GitLab