Commit 4ed01a15 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files
parents 042d8da5 0b810725
......@@ -11,14 +11,17 @@
<arg name="root_id" default="/map_laser2d" />
<arg name="robot_prefix" default="robot$(arg robot_id)" />
<group ns="$(arg robot_prefix)">
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_prefix" value="$(arg robot_prefix)" />
<arg name="input_points_topic" value="$(arg robot_prefix)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<arg name="input_points_topic" value="/$(arg robot_prefix)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="/$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_prefix)/velodyne_link" />
</include>
</group>
<!-- Include visualization in rviz -->
<group if="$(arg rviz_enabled)">
......@@ -28,6 +31,7 @@
</include>
</group>
<!-- Run monte carlo localization -->
<group ns="$(arg robot_prefix)">
<node name="ndt_mcl_localization_graph" pkg="graph_localization" type="ndt_mcl_localization_graph" output="screen">
<!-- select one of the following types-->
......@@ -38,8 +42,8 @@
<param name="laser_tf" value="$(arg robot_prefix)/velodyne_link" />
<param name="publish_sensor_link" value="false" />
<param name="input_cloud_topic" value="$(arg robot_prefix)/sensors/velodyne_packets" />
<param name="pose_estimate_topic" value="$(arg robot_prefix)/mcl_pose_estimate" />
<param name="input_cloud_topic" value="/$(arg robot_prefix)/sensors/velodyne_packets" />
<param name="pose_estimate_topic" value="/$(arg robot_prefix)/mcl_pose_estimate" />
<!-- Topic of laser scanner -->
<param name="calibration" value="$(find graph_map)/config/VLP16db.yaml" />
......@@ -78,7 +82,7 @@
<param name="force_SIR" value="true" />
<param name="z_filter_height" value="1.0" />
</node>
</group>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/ncfm.yaml" output="screen" if="$(arg publish_map)">
<remap from="/map" to="/maps/map_laser2d"/>
......
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