Commit fc6cd438 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added a new argument to choose to show the bodywork or not.

parent 3036cb67
......@@ -11,6 +11,11 @@
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<arg name="bodywork" default="Fasle"/>
<arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
<arg name="model" default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
......@@ -21,6 +26,7 @@
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
<arg name="model" value="$(arg model)"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
......@@ -17,6 +17,10 @@
<arg name="road_y" default="0.0"/>
<arg name="road_yaw" default="0.0"/>
<arg name="bodywork" default="Fasle"/>
<arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
<arg name="model" default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
......@@ -27,6 +31,7 @@
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
<arg name="model" value="$(arg model)"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
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