Added a basic launch for the adc_car.

Added a launch for the teleop of the adc_car.

launch/adc_sim.launch

+<?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>

launch/sim_test.launch → launch/adc_sim_teleop.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>