Commit 018a4063 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to new landmarks localization initialpose topic

parent 14df9808
......@@ -9,7 +9,7 @@ use_control: true
control_config: [true, true, false, false, false, true]
publish_tf: true
publish_tf: false
map_frame: map
odom_frame: adc_car/odom
base_link_frame: adc_car/base_footprint
......
......@@ -76,7 +76,8 @@
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/>
<arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="features_topic_name" value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
</include>
......
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