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feat(launch): create booars launch (#19)
* create booars_launch Signed-off-by: Autumn60 <[email protected]> * replace reference.launch.xml to booars.launch.xml Signed-off-by: Autumn60 <[email protected]> * update CODEOWNERS Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: Autumn60 <[email protected]>
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6 changes: 1 addition & 5 deletions
6
...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
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6 changes: 6 additions & 0 deletions
6
aichallenge/workspace/src/aichallenge_submit/booars_launch/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5) | ||
project(booars_launch) | ||
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find_package(ament_cmake_auto REQUIRED) | ||
ament_auto_find_build_dependencies() | ||
ament_auto_package(INSTALL_TO_SHARE launch map config) |
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...ge/workspace/src/aichallenge_submit/booars_launch/config/sensing/imu_corrector.param.yaml
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/**: | ||
ros__parameters: | ||
angular_velocity_offset_x: 0.0 # [rad/s] | ||
angular_velocity_offset_y: 0.0 # [rad/s] | ||
angular_velocity_offset_z: 0.0 # [rad/s] | ||
angular_velocity_stddev_xx: 0.03 # [rad/s] | ||
angular_velocity_stddev_yy: 0.03 # [rad/s] | ||
angular_velocity_stddev_zz: 0.03 # [rad/s] |
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54
aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/booars.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<!-- Essential parameters --> | ||
<arg name="use_sim_time" default="true"/> | ||
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<arg name="map_path" default="$(find-pkg-share booars_launch)/map"/> | ||
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<arg name="vehicle_model" default="racing_kart" description="vehicle model name"/> | ||
<arg name="sensor_model" default="racing_kart_sensor_kit" description="sensor model name"/> | ||
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<!-- Optional parameters --> | ||
<arg name="lanelet2_file" default="lanelet2_map.osm" description="lanelet2 map file name"/> | ||
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<!-- Common --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/common.launch.xml"> | ||
<arg name="use_sim_time" value="$(var use_sim_time)"/> | ||
<arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
<arg name="sensor_model" value="$(var sensor_model)"/> | ||
</include> | ||
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<!-- Map --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/map.launch.xml"> | ||
<arg name="map_path" value="$(var map_path)"/> | ||
<arg name="lanelet2_map_file" value="$(var lanelet2_file)"/> | ||
</include> | ||
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<!-- Sensing --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/sensing.launch.xml"/> | ||
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<!-- Perception --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/perception.launch.xml"/> | ||
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<!-- Localization --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/localization.launch.xml"/> | ||
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<!-- Planning --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/planning.launch.xml"/> | ||
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<!-- Control --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/control.launch.xml"/> | ||
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<!-- Vehicle --> | ||
<include file="$(find-pkg-share booars_launch)/launch/components/vehicle.launch.xml"/> | ||
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<!-- API --> | ||
<group> | ||
<!-- default_ad_api --> | ||
<include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" /> | ||
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<!-- ad_api_adaptors --> | ||
<include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" /> | ||
</group> | ||
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</launch> |
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...llenge/workspace/src/aichallenge_submit/booars_launch/launch/components/common.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
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<!-- Parameters --> | ||
<arg name="use_sim_time" description="use_sim_time"/> | ||
<arg name="vehicle_model" description="vehicle model name"/> | ||
<arg name="sensor_model" description="sensor model name"/> | ||
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<!-- Global Parameter Loader --> | ||
<group scoped="false"> | ||
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"> | ||
<arg name="use_sim_time" value="$(var use_sim_time)"/> | ||
<arg name="vehicle_model" value="$(var vehicle_model)"/> | ||
</include> | ||
</group> | ||
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<!-- Robot State Publisher --> | ||
<group> | ||
<arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/> | ||
<arg name="config_dir" default="$(find-pkg-share racing_kart_sensor_kit_description)/config"/> | ||
<node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher"> | ||
<param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/> | ||
</node> | ||
</group> | ||
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</launch> |
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...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
<push-ros-namespace namespace="control"/> | ||
<node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen"> | ||
<param name="use_external_target_vel" value="true"/> | ||
<param name="external_target_vel" value="8.0"/> | ||
<param name="lookahead_gain" value="0.3"/> | ||
<param name="lookahead_min_distance" value="4.0"/> | ||
<param name="speed_proportional_gain" value="1.0"/> | ||
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<remap from="input/kinematics" to="/localization/kinematic_state"/> | ||
<remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/> | ||
<remap from="output/control_cmd" to="/control/command/control_cmd"/> | ||
</node> | ||
</group> | ||
</launch> |
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.../workspace/src/aichallenge_submit/booars_launch/launch/components/localization.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
<push-ros-namespace namespace="localization"/> | ||
<include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml"> | ||
<arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/> | ||
<arg name="input_imu_topic" value="/sensing/imu/imu_data"/> | ||
<arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/> | ||
<arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/> | ||
</include> | ||
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<node pkg="imu_gnss_poser" exec="imu_gnss_poser_node" name="imu_gnss_poser" output="screen"/> | ||
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<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml"> | ||
<arg name="enable_yaw_bias_estimation" value="false"/> | ||
<arg name="tf_rate" value="50.0"/> | ||
<arg name="twist_smoothing_steps" value="1"/> | ||
<arg name="input_initial_pose_name" value="/localization/initial_pose3d"/> | ||
<arg name="input_pose_with_cov_name" value="/localization/imu_gnss_poser/pose_with_covariance"/> | ||
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/> | ||
<arg name="output_odom_name" value="kinematic_state"/> | ||
<arg name="output_pose_name" value="pose"/> | ||
<arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/> | ||
<arg name="output_biased_pose_name" value="biased_pose"/> | ||
<arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/> | ||
<arg name="output_twist_name" value="twist"/> | ||
<arg name="output_twist_with_covariance_name" value="twist_with_covariance"/> | ||
<arg name="proc_stddev_vx_c" value="10.0"/> | ||
<arg name="proc_stddev_wz_c" value="5.0"/> | ||
</include> | ||
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<!-- twist2accel --> | ||
<group> | ||
<node pkg="twist2accel" exec="twist2accel" name="twist2accel" output="screen"> | ||
<param name="accel_lowpass_gain" value="0.9"/> | ||
<param name="use_odom" value="true"/> | ||
<remap from="input/odom" to="/localization/kinematic_state"/> | ||
<remap from="input/twist" to="/localization/twist_estimator/twist_with_covariance"/> | ||
<remap from="output/accel" to="/localization/acceleration"/> | ||
</node> | ||
</group> | ||
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</group> | ||
</launch> |
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41
aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/map.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
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<!-- Parameters --> | ||
<arg name="map_path" /> | ||
<arg name="lanelet2_map_file" /> | ||
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<group> | ||
<push-ros-namespace namespace="map"/> | ||
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<!-- map_container --> | ||
<node_container pkg="rclcpp_components" exec="component_container" name="map_container" namespace=""> | ||
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<!-- map_loader::Lanelet2MapLoaderNode --> | ||
<composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader" namespace=""> | ||
<remap from="output/lanelet2_map" to="vector_map" /> | ||
<param name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml" /> | ||
<extra_arg name="use_intra_process_comms" value="false" /> | ||
</composable_node> | ||
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<!-- map_loader::Lanelet2MapVisualizationNode --> | ||
<composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization" namespace=""> | ||
<remap from="input/lanelet2_map" to="vector_map" /> | ||
<remap from="output/lanelet2_map_marker" to="vector_map_marker" /> | ||
<param name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml" /> | ||
<extra_arg name="use_intra_process_comms" value="false" /> | ||
</composable_node> | ||
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<!-- map_tf_generator::VectorMapTFGeneratorNode --> | ||
<composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator" namespace=""> | ||
<param name="map_frame" value="map" /> | ||
<param name="viewer_frame" value="viewer" /> | ||
<extra_arg name="use_intra_process_comms" value="false" /> | ||
</composable_node> | ||
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</node_container> | ||
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</group> | ||
</launch> |
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...ge/workspace/src/aichallenge_submit/booars_launch/launch/components/perception.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
<push-ros-namespace namespace="perception"/> | ||
<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen"> | ||
<remap from="~/output/objects" to="/perception/object_recognition/objects"/> | ||
</node> | ||
</group> | ||
</launch> |
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104
...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
<push-ros-namespace namespace="planning"/> | ||
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<!-- mission_planning --> | ||
<group> | ||
<push-ros-namespace namespace="mission_planning"/> | ||
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<!-- mission_planner --> | ||
<node pkg="mission_planner" exec="mission_planner" name="mission_planner" output="screen"> | ||
<remap from="input/modified_goal" to="/planning/scenario_planning/modified_goal"/> | ||
<remap from="input/vector_map" to="/map/vector_map"/> | ||
<!-- <remap from="/localization/kinematic_state" to="/awsim/ground_truth/localization/kinematic_state"/> --> | ||
<remap from="debug/route_marker" to="/planning/mission_planning/route_marker"/> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/> | ||
</node> | ||
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<!-- goal_pose_visualizer --> | ||
<node pkg="mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen"> | ||
<remap from="input/route" to="/planning/mission_planning/route"/> | ||
<remap from="output/goal_pose" to="/planning/mission_planning/echo_back_goal_pose"/> | ||
</node> | ||
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</group> <!-- mission_planning --> | ||
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<!-- scenario_planning --> | ||
<group> | ||
<push-ros-namespace namespace="scenario_planning"/> | ||
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<!-- scenario_selector --> | ||
<group> | ||
<arg name="cmd" default="ros2 topic pub /planning/scenario_planning/scenario tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}'"/> | ||
<executable cmd="$(var cmd)" name="scenario_pub" shell="true"/> | ||
</group> <!-- scenario_selector --> | ||
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<!-- operation_mode --> | ||
<group> | ||
<arg name="cmd" default="ros2 topic pub /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState '{ | ||
mode: 1, | ||
is_autoware_control_enabled: true, | ||
is_in_transition: false, | ||
is_stop_mode_available: true, | ||
is_autonomous_mode_available: true, | ||
is_local_mode_available: true, | ||
is_remote_mode_available: true | ||
}'"/> | ||
<executable cmd="$(var cmd)" name="operation_mode_pub" shell="true"/> | ||
</group> <!-- operation_mode --> | ||
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<!-- lane_driving --> | ||
<group> | ||
<push-ros-namespace namespace="lane_driving"/> | ||
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<!-- behavior_planning --> | ||
<group> | ||
<push-ros-namespace namespace="behavior_planning"/> | ||
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<!-- behavior_planning_container --> | ||
<node_container pkg="rclcpp_components" exec="component_container" name="behavior_planning_container" namespace=""> | ||
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<!-- behavior_path_planner::BehaviorPathPlannerNode --> | ||
<composable_node pkg="behavior_path_planner" plugin="behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace=""> | ||
<remap from="~/input/route" to="/planning/mission_planning/route" /> | ||
<remap from="~/input/vector_map" to="/map/vector_map" /> | ||
<remap from="~/input/perception" to="/perception/object_recognition/objects" /> <!-- autoware_auto_perception_msgs/PredictedObjects --> | ||
<remap from="~/input/occupancy_grid_map" to="/perception/occupancy_grid_map/map" /> | ||
<remap from="~/input/costmap" to="/planning/scenario_planning/parking/costmap_generator/occupancy_grid" /> | ||
<remap from="~/input/odometry" to="/localization/kinematic_state" /> | ||
<remap from="~/input/accel" to="/localization/acceleration" /> | ||
<remap from="~/input/scenario" to="/planning/scenario_planning/scenario" /> | ||
<remap from="~/output/path" to="path_with_lane_id" /> | ||
<remap from="~/output/turn_indicators_cmd" to="/planning/turn_indicators_cmd" /> | ||
<remap from="~/output/hazard_lights_cmd" to="/planning/hazard_lights_cmd" /> | ||
<remap from="~/output/modified_goal" to="/planning/scenario_planning/modified_goal" /> | ||
<param name="bt_tree_config_path" value="$(find-pkg-share aichallenge_submit_launch)/config/behavior_path_planner_tree.xml"/> | ||
<param name="lane_change.enable_abort_lane_change" value="false"/> | ||
<param name="lane_change.enable_collision_check_at_prepare_phase" value="false"/> | ||
<param name="lane_change.use_predicted_path_outside_lanelet" value="false"/> | ||
<param name="lane_change.use_all_predicted_path" value="false"/> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml" /> | ||
<param from="$(find-pkg-share aichallenge_submit_launch)/config/behavior_path_planner.param.yaml" /> | ||
<param from="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" /> | ||
<extra_arg name="use_intra_process_comms" value="false" /> | ||
</composable_node> | ||
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</node_container> | ||
</group> <!-- behavior_planning --> | ||
</group> <!-- lane_driving --> | ||
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<!-- Customizable --> | ||
<node pkg="path_to_trajectory" exec="path_to_trajectory_node" name="path_to_trajectory" output="screen"> | ||
<remap from="input" to="/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"/> | ||
<remap from="output" to="/planning/scenario_planning/trajectory"/> | ||
</node> | ||
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</group> | ||
</group> | ||
</launch> |
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...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/sensing.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
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<push-ros-namespace namespace="sensing"/> | ||
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<!-- Vehicle Velocity Converter --> | ||
<include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml"> | ||
<arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/> | ||
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/> | ||
</include> | ||
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<!-- IMU Corrector --> | ||
<group> | ||
<push-ros-namespace namespace="imu"/> | ||
<arg name="imu_corrector_param_file" default="$(find-pkg-share booars_launch)/config/sensing/imu_corrector.param.yaml"/> | ||
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml"> | ||
<arg name="input_topic" value="imu_raw"/> | ||
<arg name="output_topic" value="imu_data"/> | ||
<arg name="param_file" value="$(var imu_corrector_param_file)"/> | ||
</include> | ||
</group> | ||
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</group> | ||
</launch> |
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...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/vehicle.launch.xml
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<?xml version="1.0" encoding="UTF-8"?> | ||
<launch> | ||
<group> | ||
<push-ros-namespace namespace="vehicle"/> | ||
</group> | ||
</launch> |
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