From 9075ba300cf3e66124610cdced595bb127c6b90b Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Wed, 9 Jun 2021 11:11:24 +0200
Subject: [PATCH] Add 3d nav mapping launch
---
launch/3d_nav_mapping.launch | 48 ++++++++++++++++++++++++++++++++++++
launch/nav_mapping.launch | 9 ++++---
2 files changed, 53 insertions(+), 4 deletions(-)
create mode 100644 launch/3d_nav_mapping.launch
diff --git a/launch/3d_nav_mapping.launch b/launch/3d_nav_mapping.launch
new file mode 100644
index 0000000..2775a38
--- /dev/null
+++ b/launch/3d_nav_mapping.launch
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="name" default="ana"/>
+
+ <arg name="use_3d_nav_nodelets" default="true"/>
+ <arg name="nav_camera" default="nav_cam"/>
+
+ <arg name="path" default="$(find iri_ana_rosnav)/params"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="3d_common_params.yaml"/>
+ <arg name="costmap_local_params" default="3d_local_params.yaml"/>
+ <arg name="costmap_global_params" default="3d_global_params.yaml"/>
+ <arg name="map_frame_id" default="map" />
+ <arg name="resolution" default="0.1" />
+ <arg name="use_move_base" default="true"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/3d_ana.rviz"/>
+
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_ana_rosnav)/launch/include/3d_nav.launch">
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="use_nodelets" value="$(arg use_3d_nav_nodelets)"/>
+ <arg name="nav_camera" value="$(arg nav_camera)"/>
+ </include>
+
+ <include file="$(find iri_ana_rosnav)/launch/nav_mapping.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ <arg name="rviz_file" value="$(arg rviz_file)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="$(arg map_frame_id)" />
+ <arg name="resolution" value="$(arg resolution)" />
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ </include>
+
+</launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 2b72f8b..80bbbdd 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -1,9 +1,8 @@
<?xml version="1.0"?>
<!-- -->
<launch>
-
- <arg name="rviz" default="true"/>
- <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
+ <arg name="name" default="ana"/>
+ <arg name="path" default="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
@@ -12,12 +11,14 @@
<arg name="resolution" default="0.1"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="ana"/>
- <arg name="path" value="$(find iri_ana_rosnav)/params"/>
+ <arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
--
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