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fix(aip_x1): fix gnss_poser arguments in gnss.launch.xml #276

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fix(aip_x1): fix gnss_poser arguments in gnss.launch.xml #276

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c4529a5
fix gnss.launch.xml
Autumn60 Jul 30, 2024
fe222cf
delete unnecessary argument
Autumn60 Jul 30, 2024
a3801b0
add missing arg
Autumn60 Jul 30, 2024
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21 changes: 12 additions & 9 deletions aip_x1_launch/launch/gnss.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,27 +1,30 @@
<launch>

<arg name="use_gnss" default="false" />
<arg name="launch_driver" default="true" />
<arg name="use_gnss" default="false"/>

<group if="$(var use_gnss)">
<push-ros-namespace namespace="gnss"/>

<arg name="launch_driver" default="true"/>
<arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>

<!-- Ublox Driver -->
<node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
<remap from="~/fix" to="~/nav_sat_fix" />
<remap from="~/fix" to="~/nav_sat_fix"/>
<param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
</node>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="ublox/nav_sat_fix" />
<arg name="input_topic_navpvt" value="ublox/navpvt" />
<arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/gnss_poser.param.yaml"/>
<arg name="input_topic_fix" value="ublox/nav_sat_fix"/>

<arg name="output_topic_gnss_pose" value="pose" />
<arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
<arg name="output_topic_gnss_fixed" value="fixed" />
<!-- Required only if use_ins_gnss_orientation is set to true in the param_file -->
<!-- <arg name="input_topic_orientation" value=""/> -->

<arg name="use_ublox_receiver" value="true" />
<arg name="output_topic_gnss_pose" value="pose"/>
<arg name="output_topic_gnss_pose_cov" value="pose_with_covariance"/>
<arg name="output_topic_gnss_fixed" value="fixed"/>
</include>

</group>
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4 changes: 1 addition & 3 deletions aip_x1_launch/launch/sensing.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,15 +4,13 @@
<arg name="vehicle_mirror_param_file" description="path to the file of vehicle mirror position yaml"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
<arg name="use_awsim" default="false"/>

<group>
<!-- LiDAR Driver -->
<include file="$(find-pkg-share aip_x1_launch)/launch/lidar.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_awsim" value="$(var use_awsim)"/>
</include>

<!-- IMU Driver -->
Expand All @@ -21,7 +19,7 @@
</include>

<!-- GNSS Driver -->
<include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml" unless="$(var use_awsim)">
<include file="$(find-pkg-share aip_x1_launch)/launch/gnss.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
</include>

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