From d04b9c0620a9f9783a8262ef8ce161b11f64cde1 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 15 Feb 2021 16:36:39 +0100
Subject: [PATCH] Navigation launch, remap localization set_pose and update
rviz
---
launch/adc_sim_navigation.launch | 1 +
rviz/nav.rviz | 6 +++---
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/launch/adc_sim_navigation.launch b/launch/adc_sim_navigation.launch
index 8b6d6e2..8a69d7c 100644
--- a/launch/adc_sim_navigation.launch
+++ b/launch/adc_sim_navigation.launch
@@ -50,6 +50,7 @@
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="name" value="$(arg name)"/>
<arg name="global_ekf_config_file" value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
+ <arg name="set_pose_topic" value="/$(arg name)/initialpose"/>
</include>
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 2e80976..0b8c1bf 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -774,7 +774,7 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
- Topic: /adc_car/global_ekf/set_pose
+ Topic: /adc_car/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
@@ -786,7 +786,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 31.713680267333984
+ Distance: 27.908039093017578
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -827,4 +827,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
- Y: 27
+ Y: 0
--
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