Commit 1e06e444 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launch

parent f60be41e
......@@ -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="$(arg launch_prefix)"/>
</include>
<node name="rviz"
......
......@@ -36,10 +36,12 @@
<node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
args="0 0 0 0 0 0 map model_car/odom"/>
<include file="$(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="$(arg launch_prefix)"/>
</include>
<node name="rviz"
......
......@@ -38,17 +38,25 @@
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="global_planner"/>
<arg name="global_planner" value="sbpl_ackermann"/>
<arg name="odom_topic" value="/$(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 $(find iri_adc_launch)/rviz/mapping.rviz">
</node>
</launch>
......
......@@ -4,7 +4,7 @@
<arg name="name" default="model_car"/>
<arg name="circuit" default="sample"/>
<arg name="map_name" default="$(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"
......
......@@ -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"
......
This diff is collapsed.
......@@ -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:
......
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