Skip to content
Snippets Groups Projects
Commit 7d91e95a authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Updated the launch files.

parent 955cae2e
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
launch/sim_od_gp_ack_lp_all_ekf.launch
+ 30
− 31
View file @ 7d91e95a
......@@ -3,16 +3,18 @@
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<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_yaw" default="0.0"/>
<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_yaw" default="0.0"/>
<arg name="road_signs_launch_file" default="$(find model_car_rosnav)/launch/include/spawn_signs.launch"/>
<arg name="road_obstacles_launch_file" default="$(find model_car_rosnav)/launch/include/spawn_objects.launch"/>
<!-- launch the simulated model car -->
<include file="$(find model_car_gazebo)/launch/sim.launch">
......@@ -30,30 +32,27 @@
<arg name="odometry_config_file" value="$(find model_car_odometry)/config/params_no_tf.yaml"/>
</include>
<!-- launch the navigation framework -->
<include file="$(find model_car_rosnav)/launch/nav_opendrive_map.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
<arg name="odom_topic" value="/model_car/local_odom_combined"/>
<arg name="map_name" value="adc_map"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="road_name" value="adc_road_big"/>
<arg name="road_size" value="9.9101"/>
<arg name="road_path" value="$(env HOME)/Documents/"/>
<arg name="road_x" value="3.5"/>
<arg name="road_y" value="3.99997"/>
<arg name="road_yaw" value="1.5707"/>
<arg name="road_parent_frame_id" value="map"/>
</include>
<include file="$(find model_car_rosnav)/launch/include/spawn_objects.launch">
</include>
<include file="$(find model_car_rosnav)/launch/include/spawn_signs.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="iri_opendrive"/>
<arg name="odom_topic" value="/model_car/local_odom_combined"/>
<arg name="map_name" value="adc_map"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="road_name" value="adc_road_big"/>
<arg name="road_size" value="9.9101"/>
<arg name="road_path" value="$(env HOME)/Documents/"/>
<arg name="road_x" value="3.5"/>
<arg name="road_y" value="3.99997"/>
<arg name="road_yaw" value="1.5707"/>
<arg name="road_parent_frame_id" value="map"/>
<arg name="road_signs_launch_file" value="$(arg road_signs_launch_file)"/>
<arg name="road_obstacles_launch_file" value="$(arg road_obstacles_launch_file)"/>
</include>
<include file="$(find model_car_rosnav)/launch/include/localization.launch">
......
launch/sim_od_gp_ack_lp_odom_ekf.launch
+ 28
− 24
View file @ 7d91e95a
......@@ -3,16 +3,18 @@
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<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_yaw" default="0.0"/>
<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_yaw" default="0.0"/>
<arg name="road_signs_launch_file" default="$(find model_car_rosnav)/launch/include/spawn_signs.launch"/>
<arg name="road_obstacles_launch_file" default="$(find model_car_rosnav)/launch/include/spawn_objects.launch"/>
<!-- launch the simulated model car -->
<include file="$(find model_car_gazebo)/launch/sim.launch">
......@@ -31,22 +33,24 @@
</include>
<include file="$(find model_car_rosnav)/launch/nav_opendrive_nomap.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="iri_opendrive"/>
<arg name="odom_topic" value="/model_car/local_odom_combined"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="road_name" value="adc_road_big"/>
<arg name="road_size" value="9.9101"/>
<arg name="road_path" value="$(env HOME)/Documents/"/>
<arg name="road_x" value="3.5"/>
<arg name="road_y" value="3.99997"/>
<arg name="road_yaw" value="1.5707"/>
<arg name="road_parent_frame_id" value="map"/>
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
<arg name="odom_topic" value="/model_car/local_odom_combined"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="road_name" value="adc_road_big"/>
<arg name="road_size" value="9.9101"/>
<arg name="road_path" value="$(env HOME)/Documents/"/>
<arg name="road_x" value="3.5"/>
<arg name="road_y" value="3.99997"/>
<arg name="road_yaw" value="1.5707"/>
<arg name="road_parent_frame_id" value="map"/>
<arg name="road_signs_launch_file" value="$(arg road_signs_launch_file)"/>
<arg name="road_obstacles_launch_file" value="$(arg road_obstacles_launch_file)"/>
</include>
<include file="$(find model_car_rosnav)/launch/include/localization.launch">
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment