Adapted to share mapping launch and config files

config/adc_rosnav/gmapping.yaml

+map_update_interval: 5.0
+maxUrange: 5.0
+sigma:      0.05
+kernelSize: 1
+lstep:      0.05
+astep:      0.05
+iterations: 10
+lsigma:     0.075
+ogain:      3.0
+lskip: 0
+minimumScore: 0
+srr: 0.001
+srt: 0.002
+str: 0.001
+stt: 0.002
+linearUpdate:      0.05
+angularUpdate:     0.1
+temporalUpdate:    -1.0
+resampleThreshold: 0.5
+particles:         800
+
+xmin: -5.0
+ymin: -5.0
+xmax:  5.0
+ymax:  5.0
+
+delta: 0.05
+llsamplerange: 0.01
+llsamplestep:  0.01
+lasamplerange: 0.005
+lasamplestep:  0.005
+maxRange: 6.0

launch/adc_sim_mapping.launch → launch/adc_mapping.launch

@@ -2,18 +2,21 @@
 <!-- -->
 <launch>
 
-  <arg name="name"                        default="adc_car"/>
-  <arg name="output"                      default="screen"/>
-  <arg name="launch_prefix"               default=""/>
-  <arg name="opendrive_file_path"         default="$(find iri_adc_launch)/data"/>
-  <arg name="opendrive_file_name"         default="sample"/>
-
-  <arg name="resolution"                  default="0.05"/>
-  <arg name="gazebo_gui"                  default="True"/>
+  <arg name="name"                    default="adc_car"/>
+  <arg name="move_base_params"        default="move_base_params.yaml"/>
+  <arg name="costmap_common_params"   default="common_params.yaml"/>
+  <arg name="costmap_local_params"    default="local_params.yaml"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="map_frame_id"            default="map"/>
+  <arg name="resolution"              default="0.05"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
+  <arg name="opendrive_file_path"     default="$(find iri_adc_launch)/data"/>
+  <arg name="opendrive_file_name"     default="sample"/>
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                    value="$(arg name)"/>
-    <arg name="path"                  value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
+    <arg name="path"                  value="$(find iri_adc_launch)/config/adc_rosnav"/>
     <arg name="move_base_params"      value="move_base_params.yaml"/>
     <arg name="costmap_common_params" value="common_params.yaml"/>
     <arg name="costmap_local_params"  value="local_params.yaml"/>
@@ -33,7 +36,7 @@
     <arg name="use_fake_loc"          value="false"/>
     <arg name="use_gmapping"          value="true"/>
     <arg name="gmapping_scan_topic"   value="/$(arg name)/sensors/scan"/>
-    <arg name="gmapping_config"       value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/>
+    <arg name="gmapping_config"       value="$(find iri_adc_launch)/config/adc_rosnav/gmapping.yaml"/>
     <arg name="resolution"            value="$(arg resolution)"/>
     <arg name="local_planner"         value="ackermann"/>
     <arg name="global_planner"        value="iri_opendrive"/>