Commit d136c931 authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

mereged

parents 374b74f6 cc9558f5
......@@ -6,12 +6,15 @@
<!-- Absolute Path to map to be used for localization. The map needs to be built by graph_fuser package -->
<arg name="map_file_path" default="$(find graph_map)/maps/ndt_map.MAP" />
<arg name="robot_prefix" default="robot4" />
<arg name="rviz_enabled" default="false" />
<!-- Include visualization in rviz -->
<group if="$(arg rviz_enabled)">
<include file="$(find graph_map)/launch/visualize_graph_fuser.launch" >
<arg name="localization" value="true" />
<arg name="oru-lab" value="true" />
</include>
</group>
<!-- Run monte carlo localization -->
<node name="ndt_mcl_localization_graph" pkg="graph_localization" type="ndt_mcl_localization_graph" output="screen">
......@@ -61,14 +64,15 @@
</node>
<node name="graph_map_publisher" pkg="graph_map" type="graph_map_publisher" output="screen">
<param name="map_rate" value="1" />
<param name="map_file" value="$(arg map_file_path)" />
<param name="map_frame" value="/maps/map_2d_laser" />
<param name="map_parent_frame_id" value="/world" />
<param name="map_topic" value="/maps/map_2d_laser" />
</node>
<group if="$(arg rviz_enabled)">
<node name="graph_map_publisher" pkg="graph_map" type="graph_map_publisher" output="screen">
<param name="map_rate" value="1" />
<param name="map_file" value="$(arg map_file_path)" />
<param name="map_frame" value="/maps/map_2d_laser" />
<param name="map_parent_frame_id" value="/world" />
<param name="map_topic" value="/maps/map_2d_laser" />
</node>
</group>
<group if="$(arg run_bag)">
<arg name="path" default="$(find graph_map)/data/" />
......
......@@ -120,9 +120,9 @@ target_link_libraries(show_map ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBR
add_executable(optimize_graph src/optimize_graph.cpp )
target_link_libraries(optimize_graph ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_executable(graph_map_server src/graph_map_server.cpp )
add_dependencies(graph_map_server ${catkin_EXPORTED_TARGETS})
target_link_libraries(graph_map_server ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
#add_executable(graph_map_server src/graph_map_server.cpp )
#add_dependencies(graph_map_server ${catkin_EXPORTED_TARGETS})
#target_link_libraries(graph_map_server ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
#add_executable(test_graph test/test_graph.cpp )
#target_link_libraries(test_graph ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
......
<?xml version="1.0"?>
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="run_bag" default="false"/>
<arg name="namespace_prefix" default="robot4"/>
<arg name="output_pointcloud_topic_name" default="/fused_cloud"/>
<arg name="rviz_enabled" default="false"/>
<!-- Include visualization in rviz -->
<include file="$(find graph_map)/launch/visualize_graph_fuser.launch" >
<arg name="mapping" value="true" />
<arg name="oru-lab" value="true" />
</include>
<group if="$(arg rviz_enabled)">
<!-- Include visualization in rviz -->
<include file="$(find graph_map)/launch/visualize_graph_fuser.launch" >
<arg name="mapping" value="true" />
<arg name="oru-lab" value="true" />
</include>
</group>
<!-- start mapping node -->
<node pkg="graph_map" type="graph_map_fuser_node" name="graph_node" output="screen">
<!-- Choose weather to initiate pose to pose_init_<x,y,t> or the data of /<gt_topic> -->
<param name="initPoseFromGT" value="true" />
<param name="initPoseFromGT" value="false" />
<param name="pose_init_x" value="0" />
<param name="pose_init_y" value="0" />
<param name="pose_init_t" value="0" />
......@@ -62,7 +65,7 @@
<param name="useOdometry" value="true" />
<param name="odometry_topic" value="$(arg namespace_prefix)/control/odom"/>
<param name="use_tf_listener" value="false" />
<param name="gt_topic" value="$(arg namespace_prefix)/kmo_navserver/state" />
<param name="gt_topic" value="$(arg namespace_prefix)/control/state" />
<!-- check if the registration pose output is similar to odometry prediction within max_translation_norm or max_rotation_norm -->
<param name="check_consistency" value="true" />
......
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