sim_localization_global.launch 4.44 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="circuit"                     default="sample"/>
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  <arg name="map_name"                    default="$(arg circuit)"/>
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  <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"/>
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  <arg name="car_y"                       default="0.0"/>
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  <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="$(arg car_yaw)"/>
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    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/$(arg name)"/>
    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/$(arg name)_controller_config.yaml"/>
    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/$(arg name)_control_params.yaml"/>
    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/$(arg name)_odometry_params_no_tf.yaml"/>
    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/$(arg name)_mux.yaml"/>
    <arg name="standalone"                 value="False"/>
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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="local_ekf_yaml_file"  default="$(find iri_adc_launch)/config/$(arg name)_local_ekf.yaml"/>
    <arg name="global_ekf_yaml_file" default="$(find iri_adc_launch)/config/$(arg name)_global_ekf.yaml"/>
    <arg name="global_loc" default="true"/>
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  </include>

  <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
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    <arg name="name" value="$(arg circuit)"/>
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  </include>

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  <include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
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    <arg name="name"                        value="$(arg name)"/>
    <arg name="params_path"                 value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
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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"/>
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    <arg name="local_planner"               value="ackermann_sbpl"/>
    <arg name="global_planner"              value="sbpl"/>
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    <arg name="odom_topic"                  value="/$(arg name)/local_odom_combined"/>
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    <arg name="map_path"                    value="$(find iri_adc_circuit_example)/map"/>
    <arg name="map_name"                    value="$(arg map_name)"/>
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    <arg name="amcl_config"                 value="$(find iri_adc_launch)/config/$(arg name)_move_base/amcl_no_tf.yaml"/>
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    <arg name="initial_x"                   value="$(arg car_x)"/>
    <arg name="initial_y"                   value="$(arg car_y)"/>
    <arg name="initial_yaw"                 value="$(arg car_yaw)"/>
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    <arg name="output"                      value="$(arg output)" />
    <arg name="launch_prefix"               value="$(arg launch_prefix)" />
    <arg name="opendrive_file_path"         default="$(find iri_adc_circuit_example)/data"/>
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    <arg name="opendrive_file_name"         default="$(arg circuit)"/>
  </include>
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  <include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
    <arg name="ns"               value="$(arg name)"/>
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    <arg name="twist_topic"      value="/$(arg name)/teleop/cmd_vel"/>
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    <arg name="config_file"      value="$(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"
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        args="-d $(find iri_adc_launch)/rviz/localization_global.rviz">
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  </node>

</launch>