From acd1aeecc56e1a9bfeba6fe8a3f53a3fac2ad67a Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 27 Jul 2021 17:32:48 +0200
Subject: [PATCH] Adapted to lansmarks_slam_solver init_pose parameters
---
launch/adc_global_localization.launch | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index 8304aa0..cfb4417 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -77,8 +77,11 @@
<arg name="config_file" value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/>
- <arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/>
+ <arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="features_topic_name" value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
+ <arg name="initial_pose_x" value="$(arg car_x)"/>
+ <arg name="initial_pose_y" value="$(arg car_y)"/>
+ <arg name="initial_pose_yaw" value="$(arg car_yaw)"/>
</include>
</group>
--
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