Commit b520ec9f authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to new config file distributions. Added bringup launch file

parent 091e2724
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/side_left_ranger1d'
frame_id: 'model_car/side_left_ranger1d'
ranger1d_topic: 'sensors/range/side_left_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/side_right_ranger1d'
frame_id: 'model_car/side_right_ranger1d'
ranger1d_topic: 'sensors/range/side_right_sonar'
type: 'ultrasound'
noise: 0.01
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="name" default="adc_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<include file="$(find iri_model_car_bringup)/launch/bringup.launch">
<arg name="car_name" value="$(arg name)"/>
<arg name="battery_config_file" value="$(find iri_adc_launch)/config/adc/battery_config.yaml"/>
<arg name="ultrasounds_config_file" value="$(find iri_adc_launch)/config/adc/ultrasounds_config.yaml"/>
<arg name="egomotion_config_file" value="$(find iri_adc_launch)/config/adc/egomotion_config.yaml"/>
<arg name="basler_config_file" value="$(find iri_adc_launch)/config/adc/basler_camera_config.yaml"/>
<arg name="delock_device_file" value="$(find iri_adc_launch)/config/adc/delock_96368.yaml" />
<arg name="delock_format_file" value="$(find iri_adc_launch)/config/adc/delock_camera_config.yaml" />
<arg name="delock_calib_file" value="$(find iri_adc_launch)/calibration/delock_1280x960.yaml" />
<arg name="rplidar_config_file" value="$(find iri_adc_launch)/config/adc/rplidar_config.yaml" />
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc/control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc/odometry_config.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config/adc_common/local_ekf_odom_imu.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
</include>
</launch>
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