Update nav launch: choose map path, navigation/cmd_vel, initial_x/y/yaw

launch/nav_opendrive_map.launch

@@ -8,8 +8,12 @@
   <arg name="costmap_global_params"       default="global_params.yaml"/>
   <arg name="local_planner"               default="ackermann"/>
   <arg name="global_planner"              default="iri_opendrive"/>
-  <arg name="odom_topic"                  default="/model_car/odom"/>
+  <arg name="odom_topic"                  default="/model_car/odom_combined_local"/>
+  <arg name="map_path"                    default="$(find iri_maps)/map"/>
   <arg name="map_name"                    default="empty"/>
+  <arg name="initial_x"                   default="0.0"/>
+  <arg name="initial_y"                   default="0.0"/>
+  <arg name="initial_yaw"                 default="0.0"/>
   <arg name="output"                      default="screen" />
   <arg name="launch_prefix"               default="" />
   
@@ -40,17 +44,18 @@
     <arg name="map_topic"               value="/model_car/map"/>
     <arg name="map_service"             value="/model_car/static_map"/>
     <arg name="odom_topic"              value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"           value="/model_car/cmd_vel"/>
+    <arg name="cmd_vel_topic"           value="/model_car/navigation/cmd_vel"/>
     <arg name="scan_topic"              value="/model_car/sensors/scan"/>
     <arg name="use_map"                 value="true"/>
     <arg name="use_map_server"          value="true"/> 
+    <arg name="map_path"                value="$(arg map_path)"/>
     <arg name="map_name"                value="$(arg map_name)"/>
     <arg name="use_amcl"                value="true"/>
     <arg name="amcl_config"             value="$(find iri_model_car_rosnav)/params/amcl.yaml"/>
     <arg name="use_fake_loc"            value="false"/>
-    <arg name="initial_x"               value="0.0"/>
-    <arg name="initial_y"               value="0.0"/>
-    <arg name="initial_yaw"             value="0.0"/>
+    <arg name="initial_x"               value="$(arg initial_x)"/>
+    <arg name="initial_y"               value="$(arg initial_y)"/>
+    <arg name="initial_yaw"             value="$(arg initial_yaw)"/>
     <arg name="use_gmapping"            value="false"/>
     <arg name="local_planner"           value="$(arg local_planner)"/>
     <arg name="global_planner"          value="$(arg global_planner)"/>
@@ -59,5 +64,6 @@
   </include>
 
   <param name="/model_car/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
+  <param name="/model_car/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
 
 </launch>

launch/nav_opendrive_nomap.launch

@@ -11,6 +11,7 @@
   <arg name="odom_topic"                  default="/model_car/odom"/>
   <arg name="output"                      default="screen" />
   <arg name="launch_prefix"               default="" />
+  <!--
   <arg name="road_name"                   default="adc_road_big"/>
   <arg name="road_size"                   default="9.9101"/>
   <arg name="road_path"                   default="$(env HOME)/Documents/"/>
@@ -20,6 +21,7 @@
   <arg name="road_parent_frame_id"        default="map"/>
   <arg name="road_signs_launch_file"      default="$(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"/>
+  -->
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                      value="model_car"/>
@@ -34,7 +36,7 @@
     <arg name="map_topic"               value="/model_car/map"/>
     <arg name="map_service"             value="/model_car/static_map"/>
     <arg name="odom_topic"              value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"           value="/model_car/cmd_vel"/>
+    <arg name="cmd_vel_topic"           value="/model_car/navigation/cmd_vel"/>
     <arg name="scan_topic"              value="/model_car/sensors/scan"/>
     <arg name="use_map"                 value="false"/>
     <arg name="use_map_server"          value="false"/> 
@@ -53,6 +55,7 @@
 
   <param name="/model_car/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(find iri_model_car_rosnav)/adc_road.xodr" />
 
+  <!--
   <include file="$(arg road_signs_launch_file)">
   </include>
 
@@ -68,5 +71,6 @@
     <arg name="yaw"        value="$(arg road_yaw)"/>
     <arg name="parent"     value="$(arg road_parent_frame_id)"/>
   </include>
+  -->
 
 </launch>