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Commit 9b8bad12 authored by Sergi Hernandez's avatar Sergi Hernandez
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Removed some old launch files. 

Added the launch files to start all the model car sensors and basic ROS nodes.
parent 1d41ec8c
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config/battery_config.yaml 0 → 100644
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rate: 100
config/egomotion_config.yaml 0 → 100644
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rate: 100
imu_frame_id: model_car/imu_mpu9250
config/rplidar_config.yaml 0 → 100644
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serial_port: "/dev/ttyUSB0"
serial_baudrate: 115200
frame_id: "model_car/front_lidar_rplidar_scan_frame"
inverted: false
angle_compensate: true
config/ultrasounds_config.yaml 0 → 100644
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rate: 100
side_right_frame_id: model_car/side_right_ranger1d
rear_right_frame_id: model_car/rear_right_ranger1d
rear_center_frame_id: model_car/rear_center_ranger1d
rear_left_frame_id: model_car/rear_left_ranger1d
side_left_frame_id: model_car/side_left_ranger1d
launch/bringup.launch 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="control_topic_name" default="/$(arg car_name)/control"/>
<arg name="joint_states_topic_name" default="/$(arg car_name)/joint_states"/>
<arg name="battery_config_file" default="$(find iri_model_car_bringup)/config/battery_config.yaml"/>
<arg name="act_battery_topic_name" default="/$(arg car_name)/sensors/act_battery_status"/>
<arg name="sens_battery_topic_name" default="/$(arg car_name)/sensors/sens_battery_status"/>
<arg name="ultrasounds_config_file" default="$(find iri_model_car_bringup)/config/ultrasounds_config.yaml"/>
<arg name="side_right_us_topic_name" default="/$(arg car_name)/sensors/range/side_right_sonar"/>
<arg name="rear_right_us_topic_name" default="/$(arg car_name)/sensors/range/rear_right_sonar"/>
<arg name="rear_center_us_topic_name" default="/$(arg car_name)/sensors/range/rear_center_sonar"/>
<arg name="rear_left_us_topic_name" default="/$(arg car_name)/sensors/range/rear_left_sonar"/>
<arg name="side_left_us_topic_name" default="/$(arg car_name)/sensors/range/side_left_sonar"/>
<arg name="egomotion_config_file" default="$(find iri_model_car_bringup)/config/egomotion_config.yaml"/>
<arg name="imu_topic_name" default="/$(arg car_name)/sensors/imu_data"/>
<arg name="magnetic_field_topic_name" default="/$(arg car_name)/sensors/magnetic_field"/>
<arg name="encoders_topic_name" default="/$(arg car_name)/encoders"/>
<arg name="basler_config_file" default="$(find pylon_camera)/config/default.yaml" />
<arg name="delock_device_file" default="$(find iri_uvc_camera_bringup)/config/devices/delock_96368.yaml" />
<arg name="delock_format_file" default="$(find iri_uvc_camera_bringup)/config/640x480_30fps_config.yaml" />
<arg name="rplidar_config_file" default="$(find iri_model_car_bringup)/config/rplidar_config.yaml" />
<arg name="scan_topic_name" default="/$(arg car_name)/sensors/scan"/>
<arg name="control_config_file" default="$(find iri_model_car_control)/config/params.yaml"/>
<arg name="odometry_config_file" default="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
<arg name="cmd_vel_mux_config_file" default="$(find iri_model_car_launch)/config/default/mux.yaml"/>
<arg name="local_ekf_config_file" default="$(find iri_model_car_launch)/config/default/local_ekf_odom_imu.yaml"/>
<arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config/default"/>
<include file="$(find iri_model_car_description)/launch/description.launch">
<arg name="name" value="$(arg car_name)"/>
<arg name="sim_config_path" value="$(arg sim_config_path)"/>
</include>
<group ns="$(arg car_name)">
<include file="$(find iri_model_car_actuators_driver)/launch/node.launch">
<arg name="node_name" value="iri_model_car_actuators_driver"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="control_topic_name" value="$(arg control_topic_name)"/>
<arg name="joint_states_topic_name" value="$(arg joint_states_topic_name)"/>
</include>
</group>
<include file="$(find iri_model_car_bringup)/launch/include/sensors.launch">
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="battery_config_file" value="$(arg battery_config_file)"/>
<arg name="act_battery_topic_name" value="$(arg act_battery_topic_name)"/>
<arg name="sens_battery_topic_name" value="$(arg sens_battery_topic_name)"/>
<arg name="ultrasounds_config_file" value="$(arg ultrasounds_config_file)"/>
<arg name="side_right_us_topic_name" value="$(arg side_right_us_topic_name)"/>
<arg name="rear_right_us_topic_name" value="$(arg rear_right_us_topic_name)"/>
<arg name="rear_center_us_topic_name" value="$(arg rear_center_us_topic_name)"/>
<arg name="rear_left_us_topic_name" value="$(arg rear_left_us_topic_name)"/>
<arg name="side_left_us_topic_name" value="$(arg side_left_us_topic_name)"/>
<arg name="egomotion_config_file" value="$(arg egomotion_config_file)"/>
<arg name="imu_topic_name" value="$(arg imu_topic_name)"/>
<arg name="magnetic_field_topic_name" value="$(arg magnetic_field_topic_name)"/>
<arg name="encoders_topic_name" value="$(arg encoders_topic_name)"/>
<arg name="basler_config_file" value="$(arg basler_config_file)" />
<arg name="device_file" value="$(arg delock_device_file)" />
<arg name="format_file" value="$(arg delock_format_file)" />
<arg name="rplidar_config_file" value="$(arg rplidar_config_file)" />
<arg name="scan_topic_name" value="$(arg scan_topic_name)"/>
</include>
<include file="$(find iri_model_car_launch)/launch/odom_control.launch">
<arg name="namespace" value="$(arg car_name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="control_config_file" value="$(arg control_config_file)"/>
<arg name="odometry_config_file" value="$(arg odometry_config_file)"/>
<arg name="encoders_topic" value="/$(arg encoders_topic_name)"/>
<arg name="cmd_vel_topic" value="/$(arg car_name)/cmd_vel"/>
<arg name="odom_topic" value="/$(arg car_name)/odom"/>
<arg name="control_topic" value="/$(arg control_topic_name)"/>
<arg name="ackermann_feedback_topic" value="/$(arg car_name)/ackermann_feedback"/>
</include>
<include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg car_name)"/>
<arg name="nodelet_manager_name" value="mux_nodelet_manager"/>
<arg name="config" value="$(arg cmd_vel_mux_config_file)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<!--
<include file="$(find iri_model_car_launch)/launch/local_ekf_loc.launch">
<arg name="name" value="$(arg car_name)"/>
<arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/>
</include>
-->
</launch>
launch/cnn.launch deleted 100644 → 0
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cnn_node_name" default="traffic_sign_classifier"/>
<arg name="model_path" default="$(find sc20_traffic_sign_classifier)/model/trafficsignnet.model"/>
<arg name="class_file" default="$(find sc20_traffic_sign_classifier)/cnn/signnames.csv"/>
<arg name="virtual_env_path" default="$(env HOME)/iri-lab/summer_school/traffic_sign_venv"/>
<include file="$(find sc20_cnn_main)/launch/node.launch">
<arg name="node_name" value="sc20_cnn_main"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="image_topic" value="$(arg car_name)/sensors/basler_camera/image_raw"/>
<arg name="camera_info_topic" value="$(arg car_name)/sensors/basler_camera/camera_info"/>
<arg name="markers_topic" value="$(arg car_name)/markers_out"/>
<!-- <arg name="car_control_topic" value="$(arg car_name)/control"/>-->
<arg name="classify_service" value="$(arg car_name)/get_class"/>
<arg name="odom_topic" value="$(arg car_name)/local_odom_combined"/>
</include>
<node name="ar_track_alvar"
pkg="ar_track_alvar"
type="individualMarkersNoKinect"
respawn="false"
output="screen">
<param name="marker_size" type="double" value="5.0" />
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera/image_raw" />
<remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/ar_pose_marker" to="$(arg car_name)/markers_in"/>
</node>
<include file="$(find sc20_cnn_ar_tag)/launch/node.launch">
<arg name="node_name" value="sc20_cnn_ar_tag"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="markers_in_topic" value="$(arg car_name)/markers_in"/>
<arg name="markers_out_topic" value="$(arg car_name)/markers_out"/>
</include>
<include file="$(find sc20_traffic_sign_classifier)/launch/node.launch">
<arg name="node_name" value="$(arg cnn_node_name)"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="model_path" value="$(arg model_path)"/>
<arg name="class_file" value="$(arg class_file)"/>
<arg name="virtual_env_path" value="$(arg virtual_env_path)"/>
<arg name="classify_service" value="$(arg car_name)/get_class"/>
</include>
</launch>
launch/include/sensors.launch 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="car_name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="battery_config_file" default="$(find iri_model_car_bringup)/config/battery_config.yaml"/>
<arg name="act_battery_topic_name" default="/$(arg car_name)/sensors/act_battery_status"/>
<arg name="sens_battery_topic_name" default="/$(arg car_name)/sensors/sens_battery_status"/>
<arg name="ultrasounds_config_file" default="$(find iri_model_car_bringup)/config/ultrasounds_config.yaml"/>
<arg name="side_right_us_topic_name" default="/$(arg car_name)/sensors/range/side_right_sonar"/>
<arg name="rear_right_us_topic_name" default="/$(arg car_name)/sensors/range/rear_right_sonar"/>
<arg name="rear_center_us_topic_name" default="/$(arg car_name)/sensors/range/rear_center_sonar"/>
<arg name="rear_left_us_topic_name" default="/$(arg car_name)/sensors/range/rear_left_sonar"/>
<arg name="side_left_us_topic_name" default="/$(arg car_name)/sensors/range/side_left_sonar"/>
<arg name="egomotion_config_file" default="$(find iri_model_car_bringup)/config/egomotion_config.yaml"/>
<arg name="imu_topic_name" default="$(arg car_name)/sensors/imu_data"/>
<arg name="magnetic_field_topic_name" default="$(arg car_name)/sensors/magnetic_field"/>
<arg name="encoders_topic_name" default="$(arg car_name)/encoders"/>
<arg name="basler_config_file" default="$(find pylon_camera)/config/default.yaml" />
<arg name="device_file" default="$(find iri_uvc_camera_bringup)/config/devices/delock_96368.yaml" />
<arg name="format_file" default="$(find iri_uvc_camera_bringup)/config/640x480_30fps_config.yaml" />
<arg name="rplidar_config_file" default="$(find iri_rplidar_laser2d_bringup)/config/rplidar_config.yaml" />
<arg name="scan_topic_name" default="/$(arg car_name)/sensors/scan"/>
<group ns="$(arg car_name)">
<include file="$(find iri_model_car_battery_driver)/launch/node.launch">
<arg name="node_name" value="iri_model_car_driver_battery"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg battery_config_file)"/>
<arg name="act_battery_topic_name" value="$(arg act_battery_topic_name)"/>
<arg name="sens_battery_topic_name" value="$(arg sens_battery_topic_name)"/>
</include>
<include file="$(find iri_model_car_ultrasounds_driver)/launch/node.launch">
<arg name="node_name" value="iri_model_car_ultrasounds_driver"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg ultrasounds_config_file)"/>
<arg name="side_right_us_topic_name" value="$(arg side_right_us_topic_name)"/>
<arg name="rear_right_us_topic_name" value="$(arg rear_right_us_topic_name)"/>
<arg name="rear_center_us_topic_name" value="$(arg rear_center_us_topic_name)"/>
<arg name="rear_left_us_topic_name" value="$(arg rear_left_us_topic_name)"/>
<arg name="side_left_us_topic_name" value="$(arg side_left_us_topic_name)"/>
</include>
<include file="$(find iri_model_car_egomotion_driver)/launch/node.launch">
<arg name="node_name" value="iri_model_car_egomotion_driver"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg egomotion_config_file)"/>
<arg name="imu_topic_name" value="$(arg imu_topic_name)"/>
<arg name="magnetic_field_topic_name" value="$(arg magnetic_field_topic_name)"/>
<arg name="encoders_topic_name" value="$(arg encoders_topic_name)"/>
</include>
<group ns="sensors">
<include file="$(find pylon_camera)/launch/pylon_camera_node.launch">
<arg name="respawn" value="false" />
<arg name="debug" value="false" />
<arg name="node_name" value="basler_camera" />
<arg name="mtu_size" value="1500" />
<arg name="startup_user_set" value="CurrentSetting" />
<arg name="enable_status_publisher" value="true" />
<arg name="enable_current_params_publisher" value="true" />
<arg name="config_file" value="$(arg basler_config_file)" />
</include>
<remap from="/$(arg car_name)/sensors/image_raw" to="/$(arg car_name)/sensors/delock_camera/image_raw"/>
<remap from="/$(arg car_name)/sensors/camera_info" to="/$(arg car_name)/sensors/delock_camera/camera_info"/>
<include file="$(find iri_uvc_camera_bringup)/launch/uvc_camera.launch">
<arg name="device_file" value="$(arg device_file)"/>
<arg name="format_file" value="$(arg format_file)"/>
<arg name="node_name" value="delock_camera"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
</group>
<include file="$(find iri_rplidar_laser2d_bringup)/launch/rplidar_laser2d.launch">
<arg name="config_file" value="$(arg rplidar_config_file)"/>
<arg name="node_name" value="front_rplidar"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="scan_topic" value="$(arg scan_topic_name)" />
</include>
</group>
</launch>
launch/sim_mapping.launch deleted 100644 → 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<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"/>
<!-- mapping arguments -->
<arg name="resolution" default="0.01"/>
<!-- launch the simulated model car -->
<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/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="iri_opendrive"/>
<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)" />
<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 iri_model_car_rosnav)/launch/include/spawn_objects.launch">
</include>
<include file="$(find iri_model_car_rosnav)/launch/include/spawn_signs.launch">
</include>
<include file="$(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="false"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz">
</node>
</launch>
launch/sim_od_gp_ack_lp.launch deleted 100644 → 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<!-- launch the simulated model car -->
<include file="$(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="$(find iri_model_car_rosnav)/launch/nav_opendrive_nomap.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
<arg name="odom_topic" value="/$(arg name)/odom"/>
<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>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_opendrive.rviz">
</node>
</launch>
launch/sim_od_gp_ack_lp_all_ekf.launch deleted 100644 → 0
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<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<arg name="road_signs_launch_file" default="$(find iri_model_car_rosnav)/launch/include/spawn_signs.launch"/>
<arg name="road_obstacles_launch_file" default="$(find iri_model_car_rosnav)/launch/include/spawn_objects.launch"/>
<!-- launch the simulated model car -->
<include file="$(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>
<!-- launch the navigation framework -->
<include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
<arg name="odom_topic" value="/$(arg name)/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 iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
<arg name="global_loc" value="false"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_opendrive_ekf.rviz">
</node>
</launch>
launch/sim_od_gp_ack_lp_odom_ekf.launch deleted 100644 → 0
+ 0
− 68
View file @ 1d41ec8c
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<arg name="road_signs_launch_file" default="$(find iri_model_car_rosnav)/launch/include/spawn_signs.launch"/>
<arg name="road_obstacles_launch_file" default="$(find iri_model_car_rosnav)/launch/include/spawn_objects.launch"/>
<!-- launch the simulated model car -->
<include file="$(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="$(find iri_model_car_rosnav)/launch/nav_opendrive_nomap.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
<arg name="odom_topic" value="/$(arg name)/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 iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
<arg name="global_loc" value="false"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_opendrive_ekf.rviz">
</node>
</launch>
launch/sim_sbpl_gp_ack_lp.launch deleted 100644 → 0
+ 0
− 52
View file @ 1d41ec8c
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<!-- launch the simulated model car -->
<include file="$(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="$(find iri_model_car_rosnav)/launch/nav_nomap.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="sbpl_global_params.yaml"/>
<arg name="local_planner" value="ackermann_sbpl"/>
<arg name="global_planner" value="sbpl"/>
<arg name="odom_topic" value="/$(arg name)/odom"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_no_map.rviz">
</node>
</launch>
launch/sim_sbpl_gp_ack_lp_odom_ekf.launch deleted 100644 → 0
+ 0
− 57
View file @ 1d41ec8c
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- general arguments -->
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<!-- simulation arguments -->
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<!-- launch the simulated model car -->
<include file="$(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="$(find iri_model_car_rosnav)/launch/nav_nomap.launch">
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
<arg name="costmap_global_params" value="sbpl_global_params.yaml"/>
<arg name="local_planner" value="ackermann_sbpl"/>
<arg name="global_planner" value="sbpl"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</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="false"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_model_car_rosnav)/rviz/model_car_no_map_ekf.rviz">
</node>
</launch>
launch/teleop_rqt.launch deleted 100644 → 0
+ 0
− 23
View file @ 1d41ec8c
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cmd_vel_topic" default="/$(arg name)/teleop/cmd_vel"/>
<arg name="v_limit" default="0.5"/>
<arg name="w_limit" default="0.5"/>
<node pkg="rqt_robot_steering"
type="rqt_robot_steering"
name="rqt_robot_steering"
ns="$(arg name)">
<param name="default_topic" value="$(arg cmd_vel_topic)"/>
<param name="default_vx_max" value="$(arg v_limit)"/>
<param name="default_vx_min" value="-$(arg v_limit)"/>
<param name="default_vw_max" value="$(arg w_limit)"/>
<param name="default_vw_min" value="-$(arg w_limit)"/>
</node>
</launch>
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