From 3f11f12498b2f745d4ad92e007037f72cca6f8ed Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 19 Apr 2021 08:38:08 +0200
Subject: [PATCH] Added a static transform between the map and opendrive
frames. Added arguments to the navigation launch to specify the opendrive
transform.
---
config/adc_rosnav/global_planner/iri_opendrive_params.yaml | 1 +
launch/adc_navigation.launch | 7 +++++++
2 files changed, 8 insertions(+)
diff --git a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
index 6aaa42b..45e7c0e 100644
--- a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
+++ b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
@@ -1,5 +1,6 @@
base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
OpendriveGlobalPlanner:
+ opendrive_frame: "opendrive"
angle_tol: 0.5
dist_tol: 0.3
multi_hyp: True
diff --git a/launch/adc_navigation.launch b/launch/adc_navigation.launch
index c5407d6..a285bd9 100644
--- a/launch/adc_navigation.launch
+++ b/launch/adc_navigation.launch
@@ -19,6 +19,10 @@
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
+ <arg name="opendrive_x" default="0.0"/>
+ <arg name="opendrive_y" default="0.0"/>
+ <arg name="opendrive_yaw" default="0.0"/>
+
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
@@ -59,4 +63,7 @@
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
+ <node name="static_tf_map_to_opendrive" pkg="tf" type="static_transform_publisher"
+ args="$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100">
+ </node>
</launch>
--
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