Commit 1fad59fe authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added a basic launch for the adc_car.

Added a launch for the teleop of the adc_car.
parent c746217a
<?xml version="1.0"?>
<!-- -->
<launch>
<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"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(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)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_car"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="standalone" value="True"/>
</include>
</launch>
......@@ -24,23 +24,22 @@
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="standalone" value="True"/>
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
args="0 0 0 0 0 0 map adc_car/odom"/>
<!--
<include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
<arg name="ns" value="adc_car"/>
<arg name="twist_topic" value="$(arg name)/teleop/cmd_vel"/>
<arg name="config_file" value="$(find iri_teleop_launch)/config/rqt_teleop.yaml" />
<include file="$(find iri_model_car_launch)/launch/teleop_rqt.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="cmd_vel_topic" value="/adc_car/teleop/cmd_vel"/>
<arg name="config_file" value="$(find iri_adc_launch)/config/teleop_config.yaml" />
</include>
-->
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_adc_launch)/rviz/sim_test.rviz">
args="-d $(find iri_adc_launch)/rviz/teleop.rviz">
</node>
</launch>
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