adc_navigation.launch 4.32 KB
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<?xml version="1.0"?>
<!-- -->
<launch>

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  <arg name="name"                    default="adc_car"/>
  <arg name="output"                  default="screen" />
  <arg name="launch_prefix"           default="" />
  <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_path"                default="$(find iri_adc_launch)/maps"/>
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  <arg name="opendrive_path"          default="$(find iri_adc_launch)/data"/>
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  <arg name="map_name"                default="adc_map" />

  <arg name="global_ekf_config_file"  default="$(find iri_adc_launch)/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml"/>

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  <arg name="car_x"                       default="0.0"/>
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  <arg name="car_y"                       default="0.0"/>
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  <arg name="car_yaw"                     default="0.0"/>

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  <arg name="calib_tf_map_opendrive"      default="false"/>
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  <arg name="opendrive_x"                 default="0.0"/>
  <arg name="opendrive_y"                 default="0.0"/>
  <arg name="opendrive_yaw"               default="0.0"/>
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  <arg name="tf_map_opendrive_file"       default="$(find iri_adc_launch)/config/adc_common/tf_map_opendrive.yaml"/>
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  <include file="$(find iri_rosnav)/launch/nav.launch">
    <arg name="ns"                      value="$(arg name)"/>
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    <arg name="path"                    value="$(find iri_adc_launch)/config/adc_rosnav"/>
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    <arg name="move_base_params"        value="move_base_params.yaml"/>
    <arg name="costmap_common_params"   value="common_params.yaml"/>
    <arg name="costmap_local_params"    value="local_params.yaml"/>
    <arg name="costmap_global_params"   value="global_params.yaml"/>
    <arg name="map_frame_id"            value="map"/>
    <arg name="odom_frame_id"           value="$(arg name)/odom"/>
    <arg name="base_frame_id"           value="$(arg name)/base_footprint"/>
    <arg name="map_topic"               value="/$(arg name)/map"/>
    <arg name="map_service"             value="/$(arg name)/static_map"/>
    <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
    <arg name="cmd_vel_topic"           value="/$(arg name)/navigation/cmd_vel"/>
    <arg name="scan_topic"              value="/$(arg name)/sensors/scan"/>
    <arg name="use_map"                 value="true"/>
    <arg name="use_map_server"          value="true"/> 
    <arg name="map_path"                value="$(arg map_path)"/>
    <arg name="map_name"                value="$(arg map_name)"/>
    <arg name="use_amcl"                value="true"/>
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    <arg name="amcl_config"             value="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
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    <arg name="initial_x"               value="$(arg car_x)"/>
    <arg name="initial_y"               value="$(arg car_y)"/>
    <arg name="initial_yaw"             value="$(arg car_yaw)"/>
    <arg name="use_fake_loc"            value="false"/>
    <arg name="use_gmapping"            value="false"/>
    <arg name="local_planner"           value="ackermann"/>
    <arg name="global_planner"          value="iri_opendrive"/>
    <arg name="output"                  value="$(arg output)" />
    <arg name="launch_prefix"           value="$(arg launch_prefix)" />
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  </include>

  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
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    <arg name="name"                    value="$(arg name)"/>
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    <arg name="global_ekf_config_file"  value="$(arg global_ekf_config_file)"/>
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    <arg name="set_pose_topic"          value="/$(arg name)/initialpose"/>
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  </include>

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  <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
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  <group if="$(arg calib_tf_map_opendrive)">
    <include file="$(find iri_dynamic_transform_publisher)/launch/node.launch">
      <arg name="node_name"       value="$(arg name)_tf_map_opendrive_pub"/>
      <arg name="params_path"     value="$(arg tf_map_opendrive_file)"/>
    </include>
  </group>

  <group unless="$(arg calib_tf_map_opendrive)">
    <node name="static_tf_map_to_opendrive" pkg="tf" type="static_transform_publisher"
          args="$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100">
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    </node>
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  </group>
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</launch>