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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
1e06e444
Commit
1e06e444
authored
Feb 08, 2021
by
Fernando Herrero
Browse files
Update launch
parent
f60be41e
Changes
7
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launch/sim_localization_global.launch
View file @
1e06e444
...
...
@@ -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=
"$(arg launch_prefix)"
/>
</include>
<node
name=
"rviz"
...
...
launch/sim_localization_local.launch
View file @
1e06e444
...
...
@@ -36,10 +36,12 @@
<node
pkg=
"tf2_ros"
type=
"static_transform_publisher"
name=
"static_tf_map_odom"
args=
"0 0 0 0 0 0 map model_car/odom"
/>
<include
file=
"$(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=
"$(arg launch_prefix)"
/>
</include>
<node
name=
"rviz"
...
...
launch/sim_mapping.launch
View file @
1e06e444
...
...
@@ -38,17 +38,25 @@
<arg
name=
"costmap_local_params"
value=
"local_params.yaml"
/>
<arg
name=
"costmap_global_params"
value=
"global_params.yaml"
/>
<arg
name=
"local_planner"
value=
"ackermann"
/>
<arg
name=
"global_planner"
value=
"
global_planner
"
/>
<arg
name=
"global_planner"
value=
"
sbpl_ackermann
"
/>
<arg
name=
"odom_topic"
value=
"/$(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_g
mapping.rviz"
>
args=
"-d $(find iri_
adc_launch)/rviz/
mapping.rviz"
>
</node>
</launch>
...
...
launch/sim_navigation.launch
View file @
1e06e444
...
...
@@ -4,7 +4,7 @@
<arg
name=
"name"
default=
"model_car"
/>
<arg
name=
"circuit"
default=
"sample"
/>
<arg
name=
"map_name"
default=
"$(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
View file @
1e06e444
...
...
@@ -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/mapping.rviz
0 → 100644
View file @
1e06e444
This diff is collapsed.
Click to expand it.
rviz/nav.rviz
View file @
1e06e444
...
...
@@ -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.
500
39780
1399231
Pitch: 1.
495
39780
61676025
Target Frame: model_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.1
3
03992
27142334
Yaw: 3.1
2
03992
36679077
Saved: ~
Window Geometry:
Displays:
...
...
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