sim_test.launch 2.18 KB
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<?xml version="1.0"?>
<!-- -->
<launch>

  <arg name="name"                        default="model_car"/>
  <arg name="output"                      default="screen"/>
  <arg name="launch_prefix"               default=""/>

  <arg name="world"                       default="empty"/>
  <arg name="gazebo_gui"                  default="True"/>
  <arg name="car_x"                       default="0.0"/>
  <arg name="car_y"                       default="0.0"/>
  <arg name="car_yaw"                     default="0.0"/>

  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
    <arg name="name"                       value="$(arg name)"/>
    <arg name="output"                     value="$(arg output)"/>
    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
    <arg name="world"                      value="$(arg world)"/>
    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
    <arg name="car_x"                      value="$(arg car_x)"/>
    <arg name="car_y"                      value="$(arg car_y)"/>
    <arg name="car_yaw"                    value="$(arg car_yaw)"/>
    <arg name="sim_config_path"            value="$(find iri_model_car_gazebo)/config"/>
    <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
    <arg name="control_config_file"        value="$(find iri_model_car_control)/config/params.yaml"/>
    <arg name="odometry_config_file"       value="$(find iri_model_car_odometry)/config/params.yaml"/>
  </include>

  <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
        args="0 0 0 0 0 0 map model_car/odom"/>

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  <include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
    <arg name="ns"               value="$(arg name)"/>
    <arg name="twist_topic"      value="$(arg name)/teleop/cmd_vel"/>
    <arg name="config_file"      value="$(find iri_teleop_launch)/config/rqt_teleop.yaml" />
    <arg name="output"           value="$(arg output)"/>
    <arg name="launch_prefix"    value="$(arg launch_prefix)"/>
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  </include>
  
  <node name="rviz"
        pkg="rviz"
        type="rviz"
        args="-d $(find iri_adc_launch)/rviz/sim_test.rviz">
  </node>

</launch>