From 337314094a5ca16ed667d454fb0624e0c0e67831 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Mon, 11 Oct 2021 10:58:14 +0200
Subject: [PATCH] Added iri_adc_global_sign_localization launch and config
 files

---
 .../adc_global_sign_localization.yaml         |  7 +++++++
 launch/adc_global_sign_localization.launch    | 21 +++++++++++++++++++
 2 files changed, 28 insertions(+)
 create mode 100644 config/adc_common/adc_global_sign_localization.yaml
 create mode 100644 launch/adc_global_sign_localization.launch

diff --git a/config/adc_common/adc_global_sign_localization.yaml b/config/adc_common/adc_global_sign_localization.yaml
new file mode 100644
index 0000000..6cd30c7
--- /dev/null
+++ b/config/adc_common/adc_global_sign_localization.yaml
@@ -0,0 +1,7 @@
+rate: 100
+camera_stdev_factor_xy: 0.3
+camera_stdev_factor_th: 0.3
+xodr_scale: 10.0
+global_frame: "map"
+base_link_frame: "adc_car/base_link"
+tf_timeout: 0.2
diff --git a/launch/adc_global_sign_localization.launch b/launch/adc_global_sign_localization.launch
new file mode 100644
index 0000000..3b2a635
--- /dev/null
+++ b/launch/adc_global_sign_localization.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="car_name"      default="adc_car"/>
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+
+  <arg name="config_file"   default="$(find iri_adc_launch)/config/adc_common/adc_global_sign_localization.yaml"/>
+  <arg name="xodr_file"     default="$(find iri_adc_launch)/data/sample_parking/sample_parking.xodr"/>
+
+  <group ns="$(arg car_name)">
+    <include file="$(find iri_adc_global_sign_localization)/launch/node.launch">
+      <arg name="node_name"     value="iri_adc_global_sign_localization"/>
+      <arg name="output"        value="$(arg output)"/>
+      <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+      <arg name="config_file" value="$(arg config_file)"/>
+      <arg name="xodr_file" value="$(arg xodr_file)"/>
+      <arg name="ar_markers_topic_name" value="/$(arg car_name)/front_ar_pose_marker"/>
+    </include>
+  </group>
+</launch>
-- 
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