Commit 4bf1a1aa authored by simalpha's avatar simalpha
Browse files

Added arg to localization launch file.

parent bbf1ae1a
......@@ -45,7 +45,7 @@
<!-- Prior map params -->
<param name="crop_map_around_base" value="15.0" /> <!-- box dimesions: value*2 x value*2 -->
<!-- 15.0 to generate Ground Truth (David IROS19) -->
<param name="merge_aligned_clouds_to_map" value="true" /> <!-- true to generate Ground Truth (David IROS19) -->
<param name="merge_aligned_clouds_to_map" value="$(arg merge_aligned_clouds_to_map)" /> <!-- true to generate Ground Truth (David IROS19) -->
<!-- Reference update policy -->
<param name="failure_prediction_mode" value="false" />
<param name="reference_update_frequency" value="5" />
......
......@@ -7,12 +7,14 @@
<arg name="map_from_file_path" default="$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"/>
<arg name="load_map_from_file" default="true"/>
<arg name="localize_against_prior_map" default="true"/>
<arg name="merge_aligned_clouds_to_map" default="true"/>
<include file="$(find aicp_ros)/launch/aicp.launch">
<arg name="fixed_frame" value="$(arg fixed_frame)"/>
<arg name="map_from_file_path" value="$(arg map_from_file_path)"/>
<arg name="load_map_from_file" value="$(arg load_map_from_file)"/>
<arg name="localize_against_prior_map" value="$(arg localize_against_prior_map)"/>
<arg name="fixed_frame" value="$(arg fixed_frame)"/>
<arg name="map_from_file_path" value="$(arg map_from_file_path)"/>
<arg name="load_map_from_file" value="$(arg load_map_from_file)"/>
<arg name="localize_against_prior_map" value="$(arg localize_against_prior_map)"/>
<arg name="merge_aligned_clouds_to_map" value="$(arg merge_aligned_clouds_to_map)"/>
</include>
<!-- Initial pose guess -->
......
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