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mobile_robotics
ADC
platforms
model_car
iri_model_car_rosnav
Commits
e7c210fe
Commit
e7c210fe
authored
4 years ago
by
Sergi Hernandez
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Moved some secondary launch files to the include forder.
parent
09991fe8
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3 changed files
launch/include/localization.launch
+4
-2
4 additions, 2 deletions
launch/include/localization.launch
launch/include/spawn_objects.launch
+47
-0
47 additions, 0 deletions
launch/include/spawn_objects.launch
launch/include/spawn_signs.launch
+140
-0
140 additions, 0 deletions
launch/include/spawn_signs.launch
with
191 additions
and
2 deletions
launch/localization.launch
→
launch/
include/
localization.launch
+
4
−
2
View file @
e7c210fe
...
...
@@ -18,8 +18,8 @@
<param
name=
"cov_vel"
value=
"0.01"
/>
<param
name=
"cov_acc"
value=
"0.01"
/>
<param
name=
"imu_reference"
value=
"1"
/>
<!-- 0 -> NED 1-> ENU -->
<remap
from=
"~imu_in"
to=
"$(arg name)/imu"
/>
<remap
from=
"~imu_out"
to=
"$(arg name)/imu_enu"
/>
<remap
from=
"~imu_in"
to=
"$(arg name)/
sensors/
imu"
/>
<remap
from=
"~imu_out"
to=
"$(arg name)/
sensors/
imu_enu"
/>
</node>
...
...
@@ -33,10 +33,12 @@
<remap
from=
"odometry/filtered"
to=
"/$(arg name)/local_odom_combined"
/>
</node>
<!--
<node pkg="tf"
type="static_transform_publisher"
name="map_transform" args="0 0 0 0 0 0 map model_car/odom 20"
unless="$(arg global_loc)"/>
-->
<node
pkg=
"robot_localization"
type=
"ekf_localization_node"
...
...
This diff is collapsed.
Click to expand it.
launch/include/spawn_objects.launch
0 → 100644
+
47
−
0
View file @
e7c210fe
<?xml version="1.0"?>
<launch>
<arg
name=
"parent"
default=
"map"
/>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object00"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"2.5"
/>
<arg
name=
"width"
value=
"6.0"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"1.25"
/>
<arg
name=
"y"
value=
"4.0"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object10"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"2.5"
/>
<arg
name=
"width"
value=
"2.0"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"5.75"
/>
<arg
name=
"y"
value=
"6.0"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object20"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"2.5"
/>
<arg
name=
"width"
value=
"3.0"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"5.75"
/>
<arg
name=
"y"
value=
"2.5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
</launch>
This diff is collapsed.
Click to expand it.
launch/include/spawn_signs.launch
0 → 100644
+
140
−
0
View file @
e7c210fe
<?xml version="1.0"?>
<launch>
<arg
name=
"parent"
default=
"map"
/>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"pedestrian_crossing_0"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar6"
/>
<arg
name=
"type"
value=
"pedestrian_crossing"
/>
<arg
name=
"x"
value=
"2.0"
/>
<arg
name=
"y"
value=
"-0.5"
/>
<arg
name=
"yaw"
value=
"3.14159"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"pedestrian_crossing_1"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar6"
/>
<arg
name=
"type"
value=
"pedestrian_crossing"
/>
<arg
name=
"x"
value=
"1.5"
/>
<arg
name=
"y"
value=
"0.5"
/>
<arg
name=
"yaw"
value=
"0"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"max_50_0"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar13"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"8.5"
/>
<arg
name=
"y"
value=
"2.5"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"max_50_1"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar13"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"7.5"
/>
<arg
name=
"y"
value=
"6.5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"parking0"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar2"
/>
<arg
name=
"type"
value=
"parking"
/>
<arg
name=
"x"
value=
"7.5"
/>
<arg
name=
"y"
value=
"5.0"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"max_50_2"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar13"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"-1.5"
/>
<arg
name=
"y"
value=
"3.5"
/>
<arg
name=
"yaw"
value=
"7.85398"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"max_50_3"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar13"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"-0.5"
/>
<arg
name=
"y"
value=
"1.5"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"parking1"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar2"
/>
<arg
name=
"type"
value=
"parking"
/>
<arg
name=
"x"
value=
"4.0"
/>
<arg
name=
"y"
value=
"4.2"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"giveway0"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar5"
/>
<arg
name=
"type"
value=
"giveway"
/>
<arg
name=
"x"
value=
"4.0"
/>
<arg
name=
"y"
value=
"6.99"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"giveway1"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar5"
/>
<arg
name=
"type"
value=
"giveway"
/>
<arg
name=
"x"
value=
"3.0"
/>
<arg
name=
"y"
value=
"1.0"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find sign_description)/launch/spawn_sign.launch"
>
<arg
name=
"name"
value=
"max_50_5"
/>
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar13"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"3.0"
/>
<arg
name=
"y"
value=
"3.5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
</launch>
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