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Commit e7c210fe authored by Sergi Hernandez's avatar Sergi Hernandez
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Moved some secondary launch files to the include forder.

parent 09991fe8
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......@@ -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"
......
<?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>
<?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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