From 035d917d897dae2c604039a6ac908e53a6c107c3 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 15 Dec 2022 09:17:34 +0100
Subject: [PATCH] Add launch arguments to enable or disable sensors
---
launch/bringup.launch | 77 +++++++++++++++++++++++++------------------
launch/test.launch | 4 +++
2 files changed, 49 insertions(+), 32 deletions(-)
diff --git a/launch/bringup.launch b/launch/bringup.launch
index 5419123..92e849c 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -3,6 +3,11 @@
<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="$(find iri_helena_bringup)/config/helena_pioneer.yaml" />
<arg name="robosense_config_file" default="$(find iri_helena_bringup)/config/helena_rs16.yaml" />
@@ -24,48 +29,56 @@
<remap from="/$(arg ns)/rosaria/cmd_vel" to="/$(arg ns)/cmd_vel"/>
<remap from="/$(arg ns)/rosaria/pose" to="/$(arg ns)/odom"/>
- <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="config_file" value="$(arg pioneer_config_file)"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- </include>
+ <group if="$(arg platform)">
+ <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="config_file" value="$(arg pioneer_config_file)"/>
+ <arg name="output" value="$(arg output)"/>
+ <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="$(arg ns)">
<group ns="sensors">
- <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
- <arg name="config_file" value="$(arg robosense_config_file)"/>
- <arg name="node_name" value="$(arg robosense_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- </include>
+ <group if="$(arg lidar)">
+ <include file="$(find iri_robosense_lidar_bringup)/launch/robosense_rs16.launch">
+ <arg name="config_file" value="$(arg robosense_config_file)"/>
+ <arg name="node_name" value="$(arg robosense_node_name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+ </group>
- <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
- <arg name="config_file" value="$(arg realsense_config_file)"/>
- <arg name="camera_name" value="$(arg realsense_camera_name)"/>
- <arg name="tf_prefix" value="$(arg realsense_tf_prefix)"/>
- </include>
+ <group if="$(arg camera)">
+ <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
+ <arg name="config_file" value="$(arg realsense_config_file)"/>
+ <arg name="camera_name" value="$(arg realsense_camera_name)"/>
+ <arg name="tf_prefix" value="$(arg realsense_tf_prefix)"/>
+ </include>
+ </group>
- <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
- <arg name="config_file" value="$(arg imu_config_file)"/>
- <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
- <arg name="node_name" value="$(arg imu_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- </include>
+ <group if="$(arg imu)">
+ <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
+ <arg name="config_file" value="$(arg imu_config_file)"/>
+ <arg name="calibration_file" value="$(arg imu_calibration_file)"/>
+ <arg name="node_name" value="$(arg imu_node_name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+ </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="$(arg launch_prefix)" />
- </include>
-
</launch>
diff --git a/launch/test.launch b/launch/test.launch
index 83d8725..7bcbe4c 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -9,6 +9,10 @@
<include file="$(find iri_helena_bringup)/launch/bringup.launch">
<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="launch_prefix" value="$(arg launch_prefix)"/>
</include>
--
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