Commit e3fc5591 authored by Thibaud Lasguignes's avatar Thibaud Lasguignes
Browse files

[launch files] add arguments for talos use.

has been tested and works with rough deplacement of the robot in gazebo.
More tests to come
parent 014bccb8
......@@ -5,7 +5,8 @@
<arg name="registration_config_file" default="$(find aicp_core)/config/icp/icp_autotuned.yaml"/>
<arg name="aicp_config_file" default="$(find aicp_core)/config/aicp_config.yaml"/>
<arg name="fixed_frame" default="map"/>
<arg name="map_from_file_path" default="$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"/>
<!-- <arg name="map_from_file_path" default="$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"/> -->
<arg name="map_from_file_path" default=""/>
<arg name="load_map_from_file" default="false"/>
<arg name="localize_against_prior_map" default="false"/>
<arg name="localize_against_built_map" default="false"/>
......@@ -20,6 +21,11 @@
<arg name="saveProbs" default="$(find aicp_core)/data/classification/probs_opencv3.txt"/>
<arg name="modelLocation" default="$(find aicp_core)/data/models/svm_opencv3.xml" />
<arg name="lidar_channel" default="/point_cloud_filter/velodyne/point_cloud_filtered"/>
<arg name="batch_size" default="7"/>
<arg name="inertial_frame" default="/odom"/>
<arg name="pose_odom" default="/state_estimator/pose_in_odom"/>
<arg name="write_input_clouds_to_file" default="false"/>
<arg name="process_input_clouds_from_file" default="false"/>
......@@ -38,7 +44,12 @@
<param name="fixed_frame" value="$(arg fixed_frame)" />
<!-- default is /aicp/pose_corrected -->
<param name="output_channel" value="/aicp/pose_corrected" />
<param name="lidar_channel" value="/point_cloud_filter/velodyne/point_cloud_filtered" />
<param name="inertial_frame" value="$(arg inertial_frame)" />
<param name="pose_body_channel" value="$(arg pose_odom)" />
<param name="lidar_channel" value="$(arg lidar_channel)" />
<!-- Prior map info -->
<param name="load_map_from_file" value="$(arg load_map_from_file)" />
......@@ -65,7 +76,7 @@
<param name="max_queue_size" value="1" />
<!-- 3D point cloud characteristics -->
<param name="batch_size" value="7" />
<param name="batch_size" value="$(arg batch_size)" />
<!-- Visualize and store -->
<param name="verbose" value="false" />
......
......@@ -13,6 +13,11 @@
<arg name="process_input_clouds_from_file" default="false"/>
<arg name="process_input_clouds_folder" default="/tmp/aicp_data"/>
<arg name="lidar_channel" default="/point_cloud_filter/velodyne/point_cloud_filtered"/>
<arg name="batch_size" default="7"/>
<arg name="pose_odom" default="/state_estimator/pose_in_odom"/>
<arg name="inertial_frame" default="/odom"/>
<include file="$(find aicp_ros)/launch/aicp.launch">
<arg name="load_map_from_file" value="$(arg load_map_from_file)"/>
<arg name="localize_against_prior_map" value="$(arg localize_against_prior_map)"/>
......@@ -21,6 +26,13 @@
<arg name="write_input_clouds_to_file" value="$(arg write_input_clouds_to_file)"/>
<arg name="process_input_clouds_from_file" value="$(arg process_input_clouds_from_file)"/>
<arg name="process_input_clouds_folder" value="$(arg process_input_clouds_folder)"/>
<arg name="lidar_channel" value="$(arg lidar_channel)"/>
<arg name="batch_size" value="$(arg batch_size)"/>
<arg name="pose_odom" value="$(arg pose_odom)"/>
<arg name="inertial_frame" value="$(arg inertial_frame)"/>
<arg name="fixed_frame" value="$(arg fixed_frame)"/>
</include>
<group if="$(arg load_map_from_file)">
......
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