Commit 4c6ec3dd authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launch, add map/nav

parent 8c9e8698
......@@ -3,6 +3,7 @@
<launch>
<arg name="name" default="model_car"/>
<arg name="circuit" default="sample"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
......@@ -34,9 +35,10 @@
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include>
<!-- <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<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"/>
......@@ -48,8 +50,8 @@
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="example"/>
</include>-->
<arg name="opendrive_file_name" default="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
<arg name="name" value="$(arg name)"/>
......@@ -60,7 +62,7 @@
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_bringup)/rviz/localization.rviz">
args="-d $(find iri_adc_launch)/rviz/localization_global.rviz">
</node>
</launch>
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