diff --git a/seat_car_description/config/seat_car.rviz b/seat_car_description/config/seat_car.rviz
index 52f085ecda0b6f2a512ba36d89979578eaf90905..eae3218937367b0632dd18380da6ddb1a00aee10 100644
--- a/seat_car_description/config/seat_car.rviz
+++ b/seat_car_description/config/seat_car.rviz
@@ -3,8 +3,7 @@ Panels:
Help Height: 80
Name: Displays
Property Tree Widget:
- Expanded:
- - /Models1
+ Expanded: ~
Splitter Ratio: 0.625
Tree Height: 536
- Class: rviz/Selection
@@ -15,7 +14,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679
+ Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
@@ -29,20 +28,20 @@ Panels:
Visualization Manager:
Class: ""
Displays:
- - Alpha: 0.1
+ - Alpha: 0.100000001
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: -5
- Z: 0.01
+ Z: 0.00999999978
Plane: XY
Plane Cell Count: 12
Reference Frame: <Fixed Frame>
@@ -61,9 +60,100 @@ Visualization Manager:
{}
Update Interval: 0
Value: false
+ - Alpha: 0.899999976
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_board:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera_rgb_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_left_axel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right_axel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ laser:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_wheel_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ sensor_board:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_camera:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_camera_optical:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
- Class: rviz/Group
Displays:
- - Alpha: 0.9
+ - Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -73,84 +163,31 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- camera_board:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- camera_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- camera_rgb_optical_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_left_axel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_right_axel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- imu:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- laser:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- rear_left_wheel_link:
+ road0_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- rear_right_wheel_link:
+ road0_link:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- sensor_board:
+ road_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- top_camera:
+ road_base_link_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- top_camera_optical:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Name: RobotModel
- Robot Description: robot_description
+ Name: RoadModel
+ Robot Description: road_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- - Alpha: 1
+ - Alpha: 0.899999976
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -160,27 +197,13 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- road0_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- road0_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- road_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RoadModel
- Robot Description: road_description
+ Name: PerimeterModel
+ Robot Description: perimeter_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- - Alpha: 0.9
+ - Alpha: 0.899999976
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -204,12 +227,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
- panel_purple:
+ panel_red:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- panel_red:
+ panel_yellow:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -220,119 +243,7 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- semaphore_parking1_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking1_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_parking1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking1_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking1_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_parking2_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking2_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_parking2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking2_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_parking2_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_start1_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start1_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_start1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start1_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start1_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_start2_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start2_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- semaphore_start2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start2_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- semaphore_start2_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- trafficlights_fixed_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Name: TrafficlightsModel
- Robot Description: trafficlights_fixed_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Alpha: 1
+ - Alpha: 0.899999976
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -342,167 +253,142 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- semaphore_intersection1_light_image:
+ trafficlight0_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection1_light_link:
+ trafficlight0_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_intersection1_link:
+ trafficlight0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection1_tag_image:
+ trafficlight0_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection1_tag_link:
+ trafficlight0_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_intersection2_light_image:
+ trafficlight1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection2_light_link:
+ trafficlight1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_intersection2_link:
+ trafficlight1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection2_tag_image:
+ trafficlight1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection2_tag_link:
+ trafficlight1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_intersection3_light_image:
+ trafficlight2_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection3_light_link:
+ trafficlight2_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_intersection3_link:
+ trafficlight2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection3_tag_image:
+ trafficlight2_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_intersection3_tag_link:
+ trafficlight2_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_roundabout1_light_image:
+ trafficlight3_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout1_light_link:
+ trafficlight3_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_roundabout1_link:
+ trafficlight3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout1_tag_image:
+ trafficlight3_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout1_tag_link:
+ trafficlight3_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_roundabout2_light_image:
+ trafficlight4_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout2_light_link:
+ trafficlight4_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
- semaphore_roundabout2_link:
+ trafficlight4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout2_tag_image:
+ trafficlight4_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- semaphore_roundabout2_tag_link:
+ trafficlight4_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- signal_left1_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_left1_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- signal_left1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_left1_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_left1_tag_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- signal_right1_light_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_right1_light_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- signal_right1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_right1_tag_image:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- signal_right1_tag_link:
+ trafficlights_fixed_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
+ Name: TrafficlightsModel
+ Robot Description: trafficlights_fixed_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 0.899999976
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled:
+ {}
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
trafficlights_extra_example_base_link:
Alpha: 1
Show Axes: false
@@ -513,7 +399,28 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- - Alpha: 0.9
+ - Alpha: 0.899999976
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled:
+ {}
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ buildings_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: BuildingsModel
+ Robot Description: buildings_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 0.899999976
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -581,19 +488,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- base_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- body:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: Obstacle3aModel
Robot Description: obstacle3a_description
TF Prefix: obstacle3a
@@ -610,19 +504,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- base_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- body:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: Obstacle3bModel
Robot Description: obstacle3b_description
TF Prefix: obstacle3b
@@ -639,19 +520,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- base_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- body:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: Obstacle3cModel
Robot Description: obstacle3c_description
TF Prefix: obstacle3c
@@ -659,16 +527,40 @@ Visualization Manager:
Value: true
Visual Enabled: true
Enabled: true
- Name: Models
- - Angle Tolerance: 0.05
+ Name: CircuitModels
+ - Angle Tolerance: 0.0500000007
Class: rviz/Odometry
- Color: 255; 255; 0
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.300000012
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
Enabled: true
Keep: 100
- Length: 0.25
Name: Odometry
- Position Tolerance: 0.2
+ Position Tolerance: 0.200000003
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.100000001
+ Color: 255; 25; 0
+ Head Length: 0.200000003
+ Head Radius: 0.100000001
+ Shaft Length: 0.5
+ Shaft Radius: 0.0500000007
+ Value: Arrow
Topic: /odom
+ Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -687,13 +579,13 @@ Visualization Manager:
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
- Min Intensity: -7.729e-27
+ Min Intensity: 8.40779079e-45
Name: RP_Lidar
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
- Size (m): 0.01
+ Size (m): 0.00999999978
Style: Points
Topic: /scan
Unreliable: false
@@ -703,8 +595,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: 2.1753
- Min Value: -3.23653e-05
+ Max Value: 2.17529988
+ Min Value: -3.23653003e-05
Value: true
Axis: Z
Channel Name: intensity
@@ -723,7 +615,7 @@ Visualization Manager:
Queue Size: 5
Selectable: true
Size (Pixels): 3
- Size (m): 0.01
+ Size (m): 0.00999999978
Style: Points
Topic: /camera/depth/points
Unreliable: false
@@ -757,6 +649,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 26; 26; 26
+ Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
@@ -778,22 +671,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 24.7526
+ Distance: 22.3086147
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: -0.137567118
+ Y: -4.57592106
+ Z: 0.010748677
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 1.5698
+ Near Clip Distance: 0.00999999978
+ Pitch: 1.56979632
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 3.1354
+ Yaw: 3.14039636
Saved: ~
Window Geometry:
Displays:
@@ -801,7 +697,7 @@ Window Geometry:
Height: 751
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -811,8 +707,8 @@ Window Geometry:
Views:
collapsed: false
Width: 1263
- X: 55
- Y: 14
+ X: 89
+ Y: 24
camera_Image:
collapsed: false
top_camera_Image:
diff --git a/seat_car_description/launch/odometry.launch b/seat_car_description/launch/odometry.launch
index a36ead62338bff2404475bccc373e8418678573e..c56cf5912232b7bc9eb942bc6bee163e6aadf3e6 100644
--- a/seat_car_description/launch/odometry.launch
+++ b/seat_car_description/launch/odometry.launch
@@ -3,24 +3,20 @@
<arg name="x" default="0.0"/>
<arg name="y" default="-0.2"/>
<arg name="yaw" default="0.0"/>
-
-
- <node pkg ="odometry"
+
+ <node pkg ="odometry"
type="odometry_publisher"
name="odometry_publisher"
output="screen">
- <param name="file_name" value="/opt/ros/modelcar/catkin_ws/install/share/odometry/cfg/SteerAngleActuator.xml"/>
- <param name="initial_x" value="$(arg x)"/>
- <param name="initial_y" value="$(arg y)"/>
- <param name="initial_yaw" value="$(arg yaw)"/>
- <remap from="/manual_control/steering"
- to="/steering_angle"/>
- <remap from="/model_car/twist"
- to="/twist"/>
- <remap from="/model_car/yaw"
- to="/yaw"/>
- <remap from="~odom"
- to="/odom"/>
+ <param name="file_name" value="$(find odometry)/cfg/SteerAngleActuator.xml" />
+ <param name="model_car_yaw" value="/yaw" />
+ <param name="model_car_twist" value="/twist" />
+ <param name="steering_command" value="/steering" />
+ <param name="initial_x" value="$(arg x)" /> <!--meters-->
+ <param name="initial_y" value="$(arg y)" /> <!--meters-->
+ <param name="initial_yaw" value="$(arg yaw)" /> <!--radian-->
+ <param name="bicycle_model" value="true" /> <!--use just bicycle model-->
+ <param name="servo_with_feedback" value="true" /> <!--use just bicycle model-->
</node>
</launch>
diff --git a/seat_car_description/launch/spawn_car.launch b/seat_car_description/launch/spawn_car.launch
index 3ded385cd6363c4dfafb2a1b9e631eacbfd2fc4d..d459cfe13c1c652fea8e5ece06e79fd37dc77f82 100644
--- a/seat_car_description/launch/spawn_car.launch
+++ b/seat_car_description/launch/spawn_car.launch
@@ -29,25 +29,6 @@
<arg name="name" value="$(arg name)"/>
</include>
- <!-- odometry pkg from https://github.com/AutoModelCar/model_car/tree/version-3 -->
- <node pkg ="odometry"
- type="odometry_publisher"
- name="odometry_publisher"
- output="screen">
- <param name="file_name" value="/opt/ros/modelcar/catkin_ws/install/share/odometry/cfg/SteerAngleActuator.xml"/>
- <param name="initial_x" value="$(arg x)"/>
- <param name="initial_y" value="$(arg y)"/>
- <param name="initial_yaw" value="$(arg yaw)"/>
- <remap from="/manual_control/steering"
- to="/steering_angle"/>
- <remap from="/model_car/twist"
- to="/twist"/>
- <remap from="/model_car/yaw"
- to="/yaw"/>
- <remap from="~odom"
- to="/odom"/>
- </node>
-
<arg name="break_distance" default="0.5"/>
<arg name="angle" default="40"/>
<node pkg="auto_stop"
@@ -82,6 +63,12 @@
<param name="publish_debug_topics" value="false"/>
<param name="stateless" value="false"/>
</node>
+
+ <include file="$(find seat_car_description)/launch/odometry.launch">
+ <arg name="x" value="$(arg x)"/>
+ <arg name="y" value="$(arg y)"/>
+ <arg name="yaw" value="$(arg yaw)"/>
+ </include>
<node name="$(arg name)_static_tf_world_map" pkg="tf" type="static_transform_publisher"
args="0 0 0 0 0 0 $(arg world_frame) $(arg map_frame) 100"/>