-
Notifications
You must be signed in to change notification settings - Fork 0
/
nmea_to_odom.launch
34 lines (27 loc) · 1.49 KB
/
nmea_to_odom.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
<launch>
<!-- robot_description is used by nodes that publish to joint_states. -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder /home/tractor/catkin_ws/src/lawn_tractor_sim/urdf/lawn_tractor.urdf.xacro"/>
<!-- Read joint positions from joint_states, then publish the vehicle's state to tf. -->
<node name="vehicle_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
<param name="publish_frequency" value="30.0"/>
</node>
<!-- ****** Fake localization for map to odom ***** -->
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 map odom 100"/>
<!-- Launch the Chip Robotics IMU driver. -->
<node pkg="chip_imu_driver" type="chip_imu_driver_node" name="chip_imu_driver_node" output="screen">
<param name="port" value="/dev/rosimu" />
</node>
<!-- Launch the nmea_serial_driver node. -->
<node name="nmea_serial_driver_node" pkg="nmea_navsat_driver" type="nmea_serial_driver" output="screen">
<param name="port" value="/dev/gps"/>
<param name="baud" value="115200" />
<param name="frame_id" value="gps" />
<param name="use_GNSS_time" value="False" />
<param name="time_ref_source" value="gps" />
<param name="useRMC" value="False" />
</node>
<!-- Launch the gps_odom.py script - check this I think you are doing this in a rosrun statement also. -->
<node pkg="beginner_tutorials" name="gps_odom" type="gps_odom.py" output="screen">
</node>
</launch>