Commit 878b5c0f authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Merge branch 'development'

parents a1cc6a31 8144d9c9
broadcast: True
parent_id: 'map'
frame_id: 'opendrive'
period: 100
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
OpendriveGlobalPlanner:
opendrive_frame: "opendrive"
angle_tol: 0.5
dist_tol: 0.3
multi_hyp: True
......
......@@ -19,6 +19,12 @@
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<arg name="calib_tf_map_opendrive" default="false"/>
<arg name="opendrive_x" default="0.0"/>
<arg name="opendrive_y" default="0.0"/>
<arg name="opendrive_yaw" default="0.0"/>
<arg name="tf_map_opendrive_file" default="$(find iri_adc_launch)/config/adc_common/tf_map_opendrive.yaml"/>
<include file="$(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 +65,16 @@
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
<group if="$(arg calib_tf_map_opendrive)">
<include file="$(find iri_dynamic_transform_publisher)/launch/node.launch">
<arg name="node_name" value="$(arg name)_tf_map_opendrive_pub"/>
<arg name="params_path" value="$(arg tf_map_opendrive_file)"/>
</include>
</group>
<group unless="$(arg calib_tf_map_opendrive)">
<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>
</group>
</launch>
......@@ -291,9 +291,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: -999999
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 999999
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
......@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: OpendriveMap
Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
......@@ -768,7 +778,7 @@ Window Geometry:
Height: 872
Hide Left Dock: false
Hide Right Dock: false
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......@@ -781,4 +791,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
Y: 0
Y: 27
......@@ -492,6 +492,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: false
Name: OpendriveMap
Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
......@@ -677,7 +687,7 @@ Window Geometry:
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
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Selection:
......
......@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: OpendriveMap
Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
......@@ -814,7 +824,7 @@ Window Geometry:
Height: 872
Hide Left Dock: false
Hide Right Dock: false
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......@@ -827,4 +837,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
Y: 0
Y: 27
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