From 1fad59fe7e146548d9cce62a86407c5b28c69d90 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 9 Feb 2021 19:31:53 +0100
Subject: [PATCH] Added a basic launch for the adc_car. Added a launch for the
teleop of the adc_car.
---
launch/adc_sim.launch | 31 +++++++++++++++++++
...{sim_test.launch => adc_sim_teleop.launch} | 17 +++++-----
2 files changed, 39 insertions(+), 9 deletions(-)
create mode 100644 launch/adc_sim.launch
rename launch/{sim_test.launch => adc_sim_teleop.launch} (77%)
diff --git a/launch/adc_sim.launch b/launch/adc_sim.launch
new file mode 100644
index 0000000..c41541b
--- /dev/null
+++ b/launch/adc_sim.launch
@@ -0,0 +1,31 @@
+<?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="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
+ <arg name="standalone" value="True"/>
+ </include>
+
+</launch>
diff --git a/launch/sim_test.launch b/launch/adc_sim_teleop.launch
similarity index 77%
rename from launch/sim_test.launch
rename to launch/adc_sim_teleop.launch
index f23d33b..9d426bd 100644
--- a/launch/sim_test.launch
+++ b/launch/adc_sim_teleop.launch
@@ -24,23 +24,22 @@
<arg name="car_controller_config_file" value="$(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>
--
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