From d01c9f9d20429a7815867fe77fc75d24e610b576 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 9 Dec 2021 16:59:44 +0100
Subject: [PATCH] Updated launch files and documentation
---
README.md | 2 +-
launch/collsions.launch | 78 ++++++++++++++++++++++++++++++++
launch/imu_and_collisions.launch | 40 ----------------
launch/node.launch | 6 +++
launch/test.launch | 3 ++
5 files changed, 88 insertions(+), 41 deletions(-)
create mode 100644 launch/collsions.launch
delete mode 100644 launch/imu_and_collisions.launch
diff --git a/README.md b/README.md
index fc5650a..f284531 100644
--- a/README.md
+++ b/README.md
@@ -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:
diff --git a/launch/collsions.launch b/launch/collsions.launch
new file mode 100644
index 0000000..c4c2f6e
--- /dev/null
+++ b/launch/collsions.launch
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="dr" 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="front_laser_topic" default="/front_laser_scan"/>
+ <arg name="rear_laser_topic" default="/rear_laser_scan"/>
+
+ <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_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="$(arg icp_service_name)"/>
+ </include>
+
+
+ <node name="rqt_reconfigure_iri_collision_manager"
+ pkg ="rqt_reconfigure"
+ type="rqt_reconfigure"
+ if ="$(arg dr)"
+ args="iri_collision_manager">
+ </node>
+
+</launch>
diff --git a/launch/imu_and_collisions.launch b/launch/imu_and_collisions.launch
deleted file mode 100644
index 033a47c..0000000
--- a/launch/imu_and_collisions.launch
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-
- <arg name="output" default="screen"/>
- <arg name="launch_prefix" default=""/>
- <arg name="dr" default="false"/>
- <arg name="sim_time" default="false"/>
- <param name="/use_sim_time" value="$(arg sim_time)" />
-
-
- <arg name="collision_config_file" default="$(find iri_collision_manager)/config/params.yaml"/>
- <arg name="imu_topic" default="/bno055_imu/imu"/>
-
- <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="$(find iri_collision_manager)/launch/node.launch">
- <arg name="node_name" value="iri_collision_manager"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- <arg name="config_file" value="$(arg collision_config_file)"/>
- <arg name="imu_topic" value="$(arg imu_topic)"/>
- </include>
-
- <include file="$(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"
- type="rqt_reconfigure"
- if ="$(arg dr)"
- args="iri_collision_manager">
- </node>
-
-</launch>
diff --git a/launch/node.launch b/launch/node.launch
index f187b04..7e94558 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,6 +7,9 @@
<arg name="config_file" default="$(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="$(arg icp_service_name)"/>
</node>
</launch>
diff --git a/launch/test.launch b/launch/test.launch
index cdc21d2..ffe8b8f 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -16,6 +16,9 @@
<arg name="launch_prefix" value="$(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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