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Commit 035d917d authored by Fernando Herrero's avatar Fernando Herrero
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Add launch arguments to enable or disable sensors

parent b77ce76e
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launch/bringup.launch
+ 45
− 32
View file @ 035d917d
...@@ -3,6 +3,11 @@ ...@@ -3,6 +3,11 @@
<arg name="ns" default="helena"/> <arg name="ns" default="helena"/>
<arg name="platform" default="true"/>
<arg name="lidar" default="true"/>
<arg name="camera" default="true"/>
<arg name="imu" default="true"/>
<arg name="pioneer_config_file" default="$(find iri_helena_bringup)/config/helena_pioneer.yaml" /> <arg name="pioneer_config_file" default="$(find iri_helena_bringup)/config/helena_pioneer.yaml" />
<arg name="robosense_config_file" default="$(find iri_helena_bringup)/config/helena_rs16.yaml" /> <arg name="robosense_config_file" default="$(find iri_helena_bringup)/config/helena_rs16.yaml" />
...@@ -24,48 +29,56 @@ ...@@ -24,48 +29,56 @@
<remap from="/$(arg ns)/rosaria/cmd_vel" to="/$(arg ns)/cmd_vel"/> <remap from="/$(arg ns)/rosaria/cmd_vel" to="/$(arg ns)/cmd_vel"/>
<remap from="/$(arg ns)/rosaria/pose" to="/$(arg ns)/odom"/> <remap from="/$(arg ns)/rosaria/pose" to="/$(arg ns)/odom"/>
<include file="$(find iri_pioneer3_bringup)/launch/bringup.launch"> <group if="$(arg platform)">
<arg name="ns" value="$(arg ns)"/> <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
<arg name="config_file" value="$(arg pioneer_config_file)"/> <arg name="ns" value="$(arg ns)"/>
<arg name="output" value="$(arg output)"/> <arg name="config_file" value="$(arg pioneer_config_file)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="output" value="$(arg output)"/>
</include> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="nodelet_manager_name" value="mux_nodelet_manager"/>
<arg name="config" value="$(arg cmd_vel_mux_config)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group ns="$(arg ns)"> <group ns="$(arg ns)">
<group ns="sensors"> <group ns="sensors">
<include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch"> <group if="$(arg lidar)">
<arg name="config_file" value="$(arg robosense_config_file)"/> <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
<arg name="node_name" value="$(arg robosense_node_name)"/> <arg name="config_file" value="$(arg robosense_config_file)"/>
<arg name="output" value="$(arg output)"/> <arg name="node_name" value="$(arg robosense_node_name)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="output" value="$(arg output)"/>
</include> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
<include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch"> <group if="$(arg camera)">
<arg name="config_file" value="$(arg realsense_config_file)"/> <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
<arg name="camera_name" value="$(arg realsense_camera_name)"/> <arg name="config_file" value="$(arg realsense_config_file)"/>
<arg name="tf_prefix" value="$(arg realsense_tf_prefix)"/> <arg name="camera_name" value="$(arg realsense_camera_name)"/>
</include> <arg name="tf_prefix" value="$(arg realsense_tf_prefix)"/>
</include>
</group>
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch"> <group if="$(arg imu)">
<arg name="config_file" value="$(arg imu_config_file)"/> <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
<arg name="calibration_file" value="$(arg imu_calibration_file)"/> <arg name="config_file" value="$(arg imu_config_file)"/>
<arg name="node_name" value="$(arg imu_node_name)"/> <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
<arg name="output" value="$(arg output)"/> <arg name="node_name" value="$(arg imu_node_name)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="output" value="$(arg output)"/>
</include> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
</group> </group>
</group> </group>
<include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="nodelet_manager_name" value="mux_nodelet_manager"/>
<arg name="config" value="$(arg cmd_vel_mux_config)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</launch> </launch>
launch/test.launch
+ 4
− 0
View file @ 035d917d
...@@ -9,6 +9,10 @@ ...@@ -9,6 +9,10 @@
<include file="$(find iri_helena_bringup)/launch/bringup.launch"> <include file="$(find iri_helena_bringup)/launch/bringup.launch">
<arg name="ns" value="$(arg ns)"/> <arg name="ns" value="$(arg ns)"/>
<arg name="platform" value="true"/>
<arg name="lidar" value="true"/>
<arg name="camera" value="true"/>
<arg name="imu" value="true"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include> </include>
......
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