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Commit f60be41e authored by Fernando Herrero's avatar Fernando Herrero
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Update launch files

parent 4c6ec3dd
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launch/sim_localization_global.launch
View file @ f60be41e
......@@ -10,7 +10,7 @@
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_y" default="-0.22"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
......@@ -47,6 +47,9 @@
<arg name="global_planner" value="global_planner"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="map_name" value="adc_map"/>
<arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
......
launch/sim_mapping.launch 0 → 100644
View file @ f60be41e
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="model_car"/>
<arg name="circuit" default="sample"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="-0.22"/>
<arg name="car_yaw" default="0.0"/>
<arg name="resolution" default="0.05"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="$(arg name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="world" value="$(arg world)"/>
<arg name="gazebo_gui" value="$(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_model_car_gazebo)/config"/>
<arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
<arg name="control_config_file" value="$(find iri_model_car_control)/config/params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params.yaml"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/nav_mapping.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="global_planner"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz">
</node>
</launch>
launch/sim_navigation.launch 0 → 100644
View file @ f60be41e
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="model_car"/>
<arg name="circuit" default="sample"/>
<arg name="map_name" default="$(arg circuit)005"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="-0.22"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="$(arg name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="world" value="$(arg world)"/>
<arg name="gazebo_gui" value="$(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_model_car_gazebo)/config"/>
<arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
<arg name="control_config_file" value="$(find iri_model_car_control)/config/params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
<arg name="global_loc" value="true"/>
<arg name="global_ekf_yaml_filename" value="global_ekf_odom_imu_amcl"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="sbpl"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="map_path" value="$(find iri_adc_circuit_example)/map"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
<arg name="name" value="$(arg name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_adc_launch)/rviz/nav.rviz">
</node>
</launch>
rviz/localization_global.rviz
View file @ f60be41e
......@@ -13,7 +13,7 @@ Panels:
- /Odometry1/(green)OdomCombinedLocal1/Shape1
- /Nav1
Splitter Ratio: 0.637188196182251
Tree Height: 705
Tree Height: 641
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -428,7 +428,7 @@ Visualization Manager:
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Value: false
Enabled: true
Keep: 1
Name: (red)OdomEncoders(1)
......@@ -462,7 +462,7 @@ Visualization Manager:
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Value: false
Enabled: true
Keep: 500
Name: (red)OdomEncoders
......@@ -741,35 +741,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 19.73822784423828
Distance: 33.3944091796875
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.9086316823959351
Y: 1.4886527061462402
Z: 0.3212772607803345
X: -6.919537544250488
Y: 2.382641077041626
Z: -2.4045217037200928
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.2353978157043457
Pitch: 1.500397801399231
Target Frame: model_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.1503992080688477
Yaw: 3.130399227142334
Saved: ~
Window Geometry:
Displays:
collapsed: false
FrontImage:
collapsed: false
Height: 936
Height: 872
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 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
QMainWindow State: 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
RearImage:
collapsed: false
Selection:
......@@ -780,6 +780,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1654
X: 153
Width: 1373
X: 67
Y: 0
rviz/nav.rviz 0 → 100644
View file @ f60be41e
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