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iros16.launch
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iros16.launch
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<?xml version="1.0"?>
<launch>
<arg name="joy_dev" default="/dev/input/js0" />
<arg name="nodelets_output" default="log" />
<arg name="is_bag" default="false" />
<arg name="plot_servo" default="false" />
<arg name="obz_logfile" default="/local_home/iros16/outdoor/obz" />
<arg name="use_alvar" default="false" />
<arg name="use_obzerver" default="true" />
<arg name="use_cftld" default="true" /> <!-- or fake it? -->
<arg name="use_vicon" default="false" />
<arg name="use_human" default="true" />
<arg name="behavior_param_file" default="$(find bebop_hri)/config/behavior.yaml" />
<group unless="$(arg is_bag)">
<rosparam command="load" file="$(find bebop_hri)/config/bebop.yaml" />
<include file="$(find bebop_tools)/launch/joy_teleop.launch">
<arg name="joy_dev" value="$(arg joy_dev)" />
<arg name="teleop_config" value="$(find bebop_hri)/config/log710.yaml" />
</include>
<node ns="bebop" pkg="bebop_driver" name="bebop_driver" type="bebop_driver_node" output="$(arg nodelets_output)">
<param name="camera_info_url" value="package://bebop_driver/data/bebop_camera_calib.yaml" />
<param name="bebop_ip" value="192.168.42.1" />
<rosparam command="load" file="$(find bebop_driver)/config/defaults.yaml" />
</node>
</group>
<group if="$(arg use_alvar)">
<arg name="marker_size" default="56.5" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="bebop/image_raw" />
<arg name="cam_info_topic" default="bebop/camera_info" />
<arg name="output_frame" default="camera" />
<arg name="alvar_max_freq" default="30.0" />
<!--node name="republish" pkg="image_transport" type="republish" args="compressed in:=bebop/image_raw raw out:=bebop/image_raw" output="screen" /-->
<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame) $(arg alvar_max_freq)">
<remap from="roi" to="rqt_image_view/clicked_roi" />
</node>
</group>
<include file="$(find bebop_hri)/launch/behavior.launch">
<arg name="param_file" value="$(arg behavior_param_file)" />
</include>
<group if="$(arg use_obzerver)">
<include file="$(find bebop_hri)/launch/obzerver.launch">
<arg name="obz_logfile" value="$(arg obz_logfile)" />
<arg name="start_paused" value="true" />
</include>
</group>
<!-- this one is used by vservo node -->
<include file="$(find bebop_vel_ctrl)/launch/bebop_vel_ctrl.launch">
<arg name="param_file" value="$(find bebop_hri)/config/vel_ctrl_servo.yaml" />
<arg name="output" value="log" />
<arg name="input_topic" value="vservo/cmd_vel" />
<arg name="output_topic" value="velctrl/cmd_vel" />
</include>
<!-- this one is used by the behavior node -->
<include file="$(find bebop_vel_ctrl)/launch/bebop_vel_ctrl.launch">
<arg name="name" value="abs_vel_ctrl" />
<arg name="param_file" value="$(find bebop_hri)/config/vel_ctrl_abs.yaml" />
<arg name="output" value="screen" />
<arg name="input_topic" value="abs_vel_ctrl/setpoint/cmd_vel" />
<arg name="output_topic" value="abs_vel_ctrl/cmd_vel" />
<arg name="debug_topic" value="abs_vel_ctrl/debug" />
</include>
<include file="$(find bebop_vservo)/launch/bebop_vservo.launch">
<arg name="param_file" value="$(find bebop_vservo)/config/bebop_vservo.yaml" />
<arg name="output" value="screen" />
<arg name="plot" value="$(arg plot_servo)" />
</include>
<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
<remap from="cmd_vel_out" to="/bebop/cmd_vel" />
<rosparam file="$(find bebop_hri)/config/twist_mux.yaml" command="load"/>
<rosparam file="$(find bebop_hri)/config/twist_mux_locks.yaml" command="load"/>
</node>
<group if="$(arg use_cftld)">
<include file="$(find cftld_ros)/launch/cftld_node.launch">
<!--arg name="output" value="$(arg nodelets_output)" /-->
<arg name="output" value="screen" />
<arg name="cftld_param_file" value="$(find cftld_ros)/config/default.yaml" />
<arg name="cftld_config_file" value="$(find cftld_ros)/config/cftld.cfg" />
</include>
</group>
<group unless="$(arg use_cftld)">
<node name="fake_tracker" type="fake_tracker_node" pkg="cftld_ros" output="log">
<remap from="roi" to="rqt_image_view/clicked_roi" />
<remap from="track" to="cftld/track" />
</node>
</group>
<group if="$(arg use_human)">
<include file="$(find autonomy_human)/launch/autonomy_human.launch">
<arg name="param_file" value="$(find bebop_hri)/config/autonomy_human.yaml" />
<arg name="input_topic" value="bebop/image_raw" />
<arg name="output" value="screen" />
<arg name="debug_mode" value="18" />
<arg name="start_paused" value="true" />
</include>
</group>
<group if="$(arg use_vicon)">
<include file="$(find bebop_hri)/launch/vicon.launch" />
</group>
</launch>