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<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file rover_control_gazebo.launch
\authors Wil Selby <accounts@wilselby.com>
\copyright Copyright (c) 2017, All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* The name of the contributors may not be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rover_control)/config/racecar_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/racecar" args="left_rear_wheel_velocity_controller right_rear_wheel_velocity_controller left_front_wheel_velocity_controller right_front_wheel_velocity_controller left_steering_hinge_position_controller right_steering_hinge_position_controller joint_state_controller"/>
<!-- servo node -->
<node pkg="rover_control" type="servo_commands.py" name="servo_commands" output="screen" />
<!-- EKF node -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
<rosparam command="load" file="$(find rover_control)/config/rc_localization.yaml" />
</node>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">
<remap from="/gps/fix" to="/navsat/fix_raw"/>
<remap from="/imu/data" to="/os1_cloud_node/imu"/>
<param name="frequency" value="30"/>
<param name="magnetic_declination_radians" value="0"/>
<param name="yaw_offset" value="1.5707"/>
<param name="zero_altitude" value="false"/>
<param name="broadcast_utm_transform" value="false"/>
<param name="publish_filtered_gps" value="false"/>
<param name="wait_for_datum" value="false"/>
<param name="use_odometry_yaw" value="false"/>
</node>
<!-- transform these vel msgs to robot commands via the twist2ack node -->
<node name="twist2ack" pkg="rbcar_twist2ack" type="twist2ack.py" respawn="true" output="screen"/>
<!-- Command Mux -->
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="manager" />
<include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
<arg name="nodelet_manager_name" value="cmd_vel_mux" />
<arg name="config_file" value="$(find rover_control)/config/rover_cmd_vel_mux.yaml" />
</include>
<!-- Remap to from mux output to servo input -->
<remap from="/racecar/ackermann_cmd_mux/output" to="/rover_velocity_controller/cmd_ack"/>
</launch>
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