Commit 43fe98d5 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

updated launch files

parent 7dbdb75a
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="robot_id" default="robot5"/>
<arg name="robot_prefix" default="/robot5"/>
<arg name="input_points_topic" default="/odometry_projected_cloud"/>
<arg name="output_pointcloud_topic_name" default="/odometry_projected_cloud"/>
<arg name="output_laser_link" default="$(arg robot_id)/calibrated_velodyne_link"/>
<arg name="output_laser_link" default="$(arg robot_prefix)/calibrated_velodyne_link"/>
<arg name="sensor_offset_topic" default="/sensor_default"/>
......@@ -40,15 +40,15 @@
<param name="output_pointcloud_topic_name" value="/odometry_cloud" />
<param name="useOdometry" value="true" />
<param name="odometry_topic" value="$(arg robot_id)/control/odom"/>
<param name="odometry_topic" value="$(arg robot_prefix)/control/odom"/>
<param name="use_tf_listener" value="true" />
<param name="use_pointcloud" value="true" />
<param name="gt_topic" value="$(arg robot_id)/control/state" />
<param name="gt_topic" value="$(arg robot_prefix)/control/state" />
<!-- odometry frame id-->
<param name="odom_tf" value="$(arg robot_id)/odom" />
<param name="base_tf" value="$(arg robot_id)/base_footprint" />
<param name="odom_tf" value="$(arg robot_prefix)/odom" />
<param name="base_tf" value="$(arg robot_prefix)/base_footprint" />
<!-- size of map -->
<param name="size_x_meters" value="70" />
......
......@@ -397,25 +397,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 29.5302753
Distance: 19.2112579
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.957117796
Y: 2.73024654
Z: -1.57417089e-05
X: 1.23219562
Y: 5.02408934
Z: -8.11231439e-06
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.640398622
Pitch: 0.655398607
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz)
Yaw: 5.96357775
Yaw: 0.160396218
Saved:
- Class: rviz/Orbit
Distance: 39.1665726
......
......@@ -309,25 +309,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 21.6795483
Distance: 36.644062
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.28180265
Y: 2.61649466
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.825398326
Pitch: 1.45039737
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz)
Yaw: 3.25357866
Yaw: 4.99357796
Saved: ~
Window Geometry:
Displays:
......
<?xml version="1.0"?>
<launch>
<!-- 0.803152 -0.0998702 0.95 -0.00179462 -0.0050552 -0.0677064 0.00670143 robot5-->
<arg name="robot_id" default="/robot5"/>
<arg name="robot_id" default="5"/>
<arg name="robot_prefix" default="robot$(arg robot_id)"/>
<arg name="root_link" default="/world"/>
<arg name="velodyne_points_topic" default="$(arg robot_id)/sensors/velodyne_compensated_points"/>
<arg name="velodyne_points_topic" default="$(arg robot_prefix)/sensors/velodyne_compensated_points"/>
<arg name="sensor_offset_topic" default="/calibrated_sensor_offset"/>
<!--node pkg="rosbag" type="play" name="player" output="screen" args=" --> <!--clock $(find ndt_offline)/bag/volvo_2017_12_01/mapping/S7.bag -r10"/-->
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="input_points_topic" value="$(arg robot_id)/sensors/velodyne_packets" />
<arg name="robot_prefix" value="$(arg robot_prefix)" />
<arg name="input_points_topic" value="$(arg robot_prefix)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="$(arg velodyne_points_topic)" />
<arg name="link" default="$(arg robot_id)/calibrated_velodyne_link" />
<arg name="link" default="$(arg robot_prefix)/calibrated_velodyne_link" />
<arg name="sensor_offset_topic" default="$(arg sensor_offset_topic)" />
</include>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ndt_calibration)/launch/calib.rviz" />
<include file="$(find graph_map)/launch/visualization/3d_odometry_visualization.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="robot_prefix" value="$(arg robot_prefix)" />
<arg name="input_points_topic" value="$(arg velodyne_points_topic)" />
<arg name="output_laser_link" default="$(arg robot_id)/calibrated_velodyne_link"/>
<arg name="output_laser_link" default="$(arg robot_prefix)/calibrated_velodyne_link"/>
<arg name="sensor_offset_topic" default="$(arg sensor_offset_topic)"/>
</include>
......@@ -63,8 +63,8 @@
<param name="cez" value="true"/>
<param name="ct" value="true"/>
<param name="odom_link" value="$(arg robot_id)/base_footprint"/>
<param name="odom_parent_link" value="$(arg robot_id)/odom"/>
<param name="odom_link" value="$(arg robot_prefix)/base_footprint"/>
<param name="odom_parent_link" value="$(arg robot_prefix)/odom"/>
<param name="root_link" value="$(arg root_link)"/>
......
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