Update launch

launch/sim_localization_global.launch

@@ -4,6 +4,7 @@
 
   <arg name="name"                        default="model_car"/>
   <arg name="circuit"                     default="sample"/>
+  <arg name="map_name"                    default="$(arg circuit)"/>
   <arg name="output"                      default="screen"/>
   <arg name="launch_prefix"               default=""/>
 
@@ -38,15 +39,16 @@
     <arg name="name" value="$(arg circuit)"/>
   </include>
 
-  <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+  <include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
     <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="local_planner"               value="ackermann"/>
-    <arg name="global_planner"              value="global_planner"/>
+    <arg name="global_planner"              value="sbpl_ackermann"/>
     <arg name="odom_topic"                  value="/$(arg name)/local_odom_combined"/>
-    <arg name="map_name"                    value="adc_map"/>
+    <arg name="map_path"                    value="$(find iri_adc_circuit_example)/map"/>
+    <arg name="map_name"                    value="$(arg map_name)"/>
     <arg name="initial_x"                   value="$(arg car_x)"/>
     <arg name="initial_y"                   value="$(arg car_y)"/>
     <arg name="initial_yaw"                 value="$(arg car_yaw)"/>
@@ -56,10 +58,12 @@
     <arg name="opendrive_file_name"         default="$(arg circuit)"/>
   </include>
 
-  <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
-    <arg name="name"                       value="$(arg name)"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+  <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)"/>
   </include>
 
   <node name="rviz"

launch/sim_localization_local.launch

@@ -36,10 +36,12 @@
   <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
         args="0 0 0 0 0 0 map model_car/odom"/>
 
-  <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
-    <arg name="name"                       value="$(arg name)"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+  <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)"/>
   </include>
   
   <node name="rviz"

launch/sim_mapping.launch

@@ -38,17 +38,25 @@
     <arg name="costmap_local_params"    value="local_params.yaml"/>
     <arg name="costmap_global_params"   value="global_params.yaml"/>
     <arg name="local_planner"           value="ackermann"/>
-    <arg name="global_planner"          value="global_planner"/>
+    <arg name="global_planner"          value="sbpl_ackermann"/>
     <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
     <arg name="resolution"              value="$(arg resolution)"/>
     <arg name="output"                  value="$(arg output)" />
     <arg name="launch_prefix"           value="$(arg launch_prefix)" />
   </include>
 
+  <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)"/>
+  </include>
+
   <node name="rviz"
         pkg="rviz"
         type="rviz"
-        args="-d $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz">
+        args="-d $(find iri_adc_launch)/rviz/mapping.rviz">
   </node>
 
 </launch>

launch/sim_navigation.launch

@@ -4,7 +4,7 @@
 
   <arg name="name"                        default="model_car"/>
   <arg name="circuit"                     default="sample"/>
-  <arg name="map_name"                    default="$(arg circuit)005"/>
+  <arg name="map_name"                    default="$(arg circuit)"/>
   <arg name="output"                      default="screen"/>
   <arg name="launch_prefix"               default=""/>
 
@@ -39,13 +39,13 @@
     <arg name="name" value="$(arg circuit)"/>
   </include>
 
-  <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+  <include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
     <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="local_planner"               value="ackermann"/>
-    <arg name="global_planner"              value="sbpl"/>
+    <arg name="global_planner"              value="sbpl_ackermann"/>
     <arg name="odom_topic"                  value="/$(arg name)/local_odom_combined"/>
     <arg name="map_path"                    value="$(find iri_adc_circuit_example)/map"/>
     <arg name="map_name"                    value="$(arg map_name)"/>
@@ -58,10 +58,12 @@
     <arg name="opendrive_file_name"         default="$(arg circuit)"/>
   </include>
 
-  <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
-    <arg name="name"                       value="$(arg name)"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+  <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)"/>
   </include>
 
   <node name="rviz"

launch/sim_test.launch

@@ -30,10 +30,12 @@
   <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
         args="0 0 0 0 0 0 map model_car/odom"/>
 
-  <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
-    <arg name="name"                       value="$(arg name)"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+  <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)"/>
   </include>
   
   <node name="rviz"

rviz/nav.rviz

@@ -687,6 +687,52 @@ Visualization Manager:
           Topic: /model_car/move_base/GlobalPlanner/plan
           Unreliable: false
           Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 0; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: GlobalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /model_car/move_base/SBPLLatticePlanner/plan
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 0; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: GlobalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic: /model_car/move_base/OpendriveGlobalPlanner/plan
+          Unreliable: false
+          Value: true
         - Alpha: 1
           Buffer Length: 1
           Class: rviz/Path
@@ -740,7 +786,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 31.97244644165039
+      Distance: 13.06635856628418
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -755,10 +801,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.500397801399231
+      Pitch: 1.4953978061676025
       Target Frame: model_car/base_footprint
       Value: Orbit (rviz)
-      Yaw: 3.130399227142334
+      Yaw: 3.120399236679077
     Saved: ~
 Window Geometry:
   Displays: