sim_navigation.launch 3.15 KB
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<?xml version="1.0"?>
<!-- -->
<launch>

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  <arg name="name"                        default="adc_car"/>
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  <arg name="output"                      default="screen"/>
  <arg name="launch_prefix"               default=""/>
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  <arg name="map_path"                    default="$(find iri_adc_launch)/maps"/>
  <arg name="map_name"                    default="adc_map" />
  <arg name="opendrive_file_path"         default="$(find iri_adc_launch)/data"/>
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  <arg name="opendrive_file_name"         default="sample"/>
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  <arg name="gazebo_gui"                  default="True"/>
  <arg name="car_x"                       default="0.0"/>
  <arg name="car_y"                       default="-0.22"/>
  <arg name="car_yaw"                     default="0.0"/>

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  <include file="$(find iri_rosnav)/launch/nav.launch">
    <arg name="ns"                      value="$(arg name)"/>
    <arg name="path"                    value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
    <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="$(arg map_name)"/>
    <arg name="use_amcl"                value="true"/>
    <arg name="amcl_config"             value="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/>
    <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)"/>
    <arg name="global_ekf_config_file"  value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
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  </include>

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  <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
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</launch>