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Commit d01c9f9d authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated launch files and documentation

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......@@ -34,7 +34,7 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal).
## Installation
#### External dependencies
#### IRI dependencies
* **bno055_imu_driver**: This is the [bno055 imu driver](https://gitlab.iri.upc.edu/labrobotica/drivers/bno055_imu_driver). To install it run the following commands:
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......@@ -4,31 +4,69 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="dr" default="false"/>
<arg name="sim_time" default="false"/>
<arg name="sim_time" default="false"/>
<param name="/use_sim_time" value="$(arg sim_time)" />
<arg name="imu_driver" default="true"/>
<!-- IMU driver parameters -->
<arg name="imu_config_file" default="$(find iri_collision_manager)/config/bno055.yaml" />
<arg name="imu_calibration_file" default="$(find iri_collision_manager)/calibration/bno055.cal" />
<!-- IMU bias filter parameters -->
<arg name="bias_filter_config_file" default="$(find iri_imu_bias_filter)/config/params.yaml"/>
<arg name="imu_raw_topic" default="/bno055_imu/imu"/>
<arg name="imu_filtered_topic" default="/bno055_imu/imu_bias_filtered"/>
<arg name="cmd_vel_topic" default="/cmd_vel"/>
<arg name="update_bias_ns" default="~/update_bias"/>
<!-- Laser Scan ICP parameters -->
<arg name="icp_config_file" default="$(find iri_laser_scan_icp)/config/params.yaml"/>
<arg name="icp_service_name" default="/iri_collision_manager/icp"/>
<!-- Collision manager parameters -->
<arg name="collision_config_file" default="$(find iri_collision_manager)/config/params.yaml"/>
<arg name="imu_topic" default="/bno055_imu/imu"/>
<arg name="front_laser_topic" default="/front_laser_scan"/>
<arg name="rear_laser_topic" default="/rear_laser_scan"/>
<arg name="imu_config_file" default="$(find iri_collision_manager)/config/bno055.yaml" />
<arg name="imu_calibration_file" default="$(find iri_collision_manager)/calibration/bno055.cal" />
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch"
if="$(arg imu_driver)">
<arg name="config_file" value="$(arg imu_config_file)"/>
<arg name="calibration_file" value="$(arg imu_calibration_file)"/>
<arg name="node_name" value="bno055_imu"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<include file="$(find iri_imu_bias_filter)/launch/node.launch">
<arg name="node_name" value="iri_imu_bias_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg bias_filter_config_file)"/>
<arg name="imu_topic_in" value="$(arg imu_raw_topic)"/>
<arg name="imu_topic_out" value="$(arg imu_filtered_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="update_bias_ns" value="$(arg update_bias_ns)"/>
</include>
<include file="$(find iri_laser_scan_icp)/launch/node.launch">
<arg name="node_name" value="iri_laser_scan_icp"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg icp_config_file)"/>
<arg name="icp_service_name" value="$(arg icp_service_name)"/>
</include>
<include file="$(find iri_collision_manager)/launch/node.launch">
<arg name="node_name" value="iri_collision_manager"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg collision_config_file)"/>
<arg name="imu_topic" value="$(arg imu_topic)"/>
<arg name="imu_topic" value="$(arg imu_filtered_topic)"/>
<arg name="front_laser_topic" value="$(arg front_laser_topic)"/>
<arg name="rear_laser_topic" value="$(arg rear_laser_topic)"/>
<arg name="icp_service_name" value="$(arg icp_service_name)"/>
</include>
<include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch">
<arg name="config_file" value="$(arg imu_config_file)"/>
<arg name="calibration_file" value="$(arg imu_calibration_file)"/>
<arg name="node_name" value="bno055_imu"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
<node name="rqt_reconfigure_iri_collision_manager"
pkg ="rqt_reconfigure"
......
......@@ -7,6 +7,9 @@
<arg name="config_file" default="$(find iri_collision_manager)/config/params.yaml"/>
<!-- <arg name="topic_name" default="new_topic_name"/> -->
<arg name="imu_topic" default="/bno055_imu/imu"/>
<arg name="front_laser_topic" default="~/front_laser_scan"/>
<arg name="rear_laser_topic" default="~/rear_laser_scan"/>
<arg name="icp_service_name" default="~/icp"/>
<node name="$(arg node_name)"
pkg ="iri_collision_manager"
......@@ -16,6 +19,9 @@
<rosparam file="$(arg config_file)" command="load"/>
<!--<remap from="~/topic" to="$(arg topic_name)"/>-->
<remap from="~/imu" to="$(arg imu_topic)"/>
<remap from="~/front_laser_scan" to="$(arg front_laser_topic)"/>
<remap from="~/rear_laser_scan" to="$(arg rear_laser_topic)"/>
<remap from="~/icp" to="$(arg icp_service_name)"/>
</node>
</launch>
......@@ -16,6 +16,9 @@
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg collision_config_file)"/>
<arg name="imu_topic" value="$(arg imu_topic)"/>
<arg name="front_laser_topic" value="/front_laser_scan"/>
<arg name="rear_laser_topic" value="/rear_laser_scan"/>
<arg name="icp_service_name" value="~/icp"/>
</include>
<node name="rqt_reconfigure_iri_collision_manager"
......
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