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Commit a75981a3 authored by Sergi Hernandez's avatar Sergi Hernandez
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Reduced the number of arguments taking into account the use of each launch file.

parent 2fdfee01
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launch/nav_map.launch
+ 48
− 69
View file @ a75981a3
......@@ -2,78 +2,57 @@
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="ana"/>
<arg name="pkg" default="iri_ana_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" />
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
<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"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_name"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="param_subpath" value="$(arg param_subpath)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="use_map" value="$(arg use_map)"/>
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="use_gmapping" value="$(arg use_gmapping)"/>
<arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
<arg name="gmapping_config" value="$(arg gmapping_config)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="ns" value="ana"/>
<arg name="path" value="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" value="$(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="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="ana/odom"/>
<arg name="base_frame_id" value="ana/base_footprint"/>
<arg name="map_topic" value="/ana/map"/>
<arg name="map_service" value="/ana/static_map"/>
<arg name="odom_topic" value="/ana/odom"/>
<arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="use_map" value="true"/>
<arg name="use_map_server" value="true"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
<arg name="amcl_config" value="$(find iri_ana_rosnav)/params/amcl.yaml"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="cloud_topic" value="/$(arg ns)/sensors/velodyne_points"/>
<include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="ana"/>
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
......@@ -82,7 +61,7 @@
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg path)/rviz/$(arg ns).rviz">
args="-d $(arg rviz_file)">
</node>
</launch>
launch/nav_mapping.launch
+ 42
− 68
View file @ a75981a3
......@@ -2,78 +2,52 @@
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="ana"/>
<arg name="pkg" default="iri_ana_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="false"/>
<arg name="map_name" default="empty"/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="true"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="rviz" default="true"/>
<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"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_frame_id" default="map"/>
<arg name="resolution" default="0.1"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="param_subpath" value="$(arg param_subpath)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="use_map" value="$(arg use_map)"/>
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="use_gmapping" value="$(arg use_gmapping)"/>
<arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
<arg name="gmapping_config" value="$(arg gmapping_config)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="ns" value="ana"/>
<arg name="path" value="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" value="$(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="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="ana/odom"/>
<arg name="base_frame_id" value="ana/base_footprint"/>
<arg name="map_topic" value="/ana/map"/>
<arg name="map_service" value="/ana/static_map"/>
<arg name="odom_topic" value="/ana/odom"/>
<arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
<arg name="scan_topic" value="/ana_sensors/scan"/>
<arg name="use_map" value="true"/>
<arg name="use_map_server" value="false"/>
<arg name="map_name" value="empty"/>
<arg name="use_amcl" value="false"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="true"/>
<arg name="gmapping_scan_topic" value="/ana/sensors/scan"/>
<arg name="gmapping_config" value="$(find iri_ana_rosnav)/params/gmapping.yaml"/>
<arg name="resolution" value="$(arg resolution"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="cloud_topic" value="/$(arg ns)/sensors/velodyne_points"/>
<arg name="ns" value="ana"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
......@@ -82,7 +56,7 @@
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg path)/rviz/$(arg ns).rviz">
args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
</node>
</launch>
launch/nav_nomap.launch
+ 39
− 69
View file @ a75981a3
......@@ -2,78 +2,48 @@
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="ana"/>
<arg name="pkg" default="iri_ana_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="false"/>
<arg name="use_map_server" default="false"/>
<arg name="map_name" default="empty"/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="rviz" default="true"/>
<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"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="param_subpath" value="$(arg param_subpath)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="use_map" value="$(arg use_map)"/>
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="use_gmapping" value="$(arg use_gmapping)"/>
<arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
<arg name="gmapping_config" value="$(arg gmapping_config)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="ns" value="ana"/>
<arg name="path" value="$(find iri_ana_rosnav)/params"/>
<arg name="move_base_params" value="$(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="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="ana/odom"/>
<arg name="base_frame_id" value="ana/base_footprint"/>
<arg name="map_topic" value="/ana/map"/>
<arg name="map_service" value="/ana/static_map"/>
<arg name="odom_topic" value="/ana/odom"/>
<arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="use_map" value="false"/>
<arg name="use_map_server" value="false"/>
<arg name="map_name" value="empty"/>
<arg name="use_amcl" value="false"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="cloud_topic" value="/$(arg ns)/sensors/velodyne_points"/>
<include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
<arg name="ns" value="ana"/>
<arg name="node_name" value="pcl_to_laserscan"/>
<arg name="scan_topic" value="/ana/sensors/scan"/>
<arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
......@@ -82,7 +52,7 @@
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg path)/rviz/$(arg ns).rviz">
args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
</node>
</launch>
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