Commit bcebdee0 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added a launch for the whole simulated environment.

parent e0b81c06
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<arg name="road_name" default="road"/>
<arg name="road_size" default="15.0"/>
<arg name="road_path" default="$(env HOME)/Downloads"/>
<arg name="road_x" default="0.0"/>
<arg name="road_y" default="0.0"/>
<arg name="road_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="world" value="empty"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="car_x" value="$(arg car_x)"/>
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_car"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="standalone" value="True"/>
</include>
<include file="$(find iri_adc_launch)/launch/sample_signals.launch">
</include>
<include file="$(find iri_adc_launch)/launch/sample_objects.launch">
</include>
<include file="$(find iri_road_description)/launch/spawn_road.launch">
<arg name="road_name" default="$(arg road_name)"/>
<arg name="road_size" default="$(arg road_size)"/>
<arg name="road_path" default="$(arg road_path)"/>
<arg name="x" default="$(arg road_x)"/>
<arg name="y" default="$(arg road_y)"/>
<arg name="yaw" default="$(arg road_yaw)"/>
<arg name="parent" default="map"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_adc_launch)/rviz/sim_env.rviz">
</node>
</launch>
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