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fix: config for awsim #290

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merged 4 commits into from
Aug 29, 2024
Merged

fix: config for awsim #290

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42b9ebf
delete unnecessary arg passing
Autumn60 Aug 29, 2024
42faa69
fix gnss_poser param
Autumn60 Aug 29, 2024
c8ee4f4
adjust gnss launching condition
Autumn60 Aug 29, 2024
151f5dc
fix invalid tag usage
Autumn60 Aug 29, 2024
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8 changes: 8 additions & 0 deletions aip_x1_launch/config/gnss_poser.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
/**:
ros__parameters:
base_frame: base_link
gnss_base_frame: gnss_link
map_frame: map
buff_epoch: 1
use_gnss_ins_orientation: false
gnss_pose_pub_method: 0 # 0: Median, 1: Average
12 changes: 5 additions & 7 deletions aip_x1_launch/launch/gnss.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<launch>

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

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

<!-- Ublox Driver -->
<node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="1.0">
Expand All @@ -14,14 +13,13 @@

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="param_file" value="$(find-pkg-share aip_x1_launch)/config/gnss_poser.param.yaml" />
<arg name="input_topic_fix" value="ublox/nav_sat_fix" />
<arg name="input_topic_navpvt" value="ublox/navpvt" />

<!-- Required if use_gnss_ins_orientation in gnss_poser.param.yaml is true -->
<!-- <arg name="input_topic_orientation" value="" /> -->
<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" />

<arg name="use_ublox_receiver" value="true" />
</include>

</group>
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3 changes: 1 addition & 2 deletions aip_x1_launch/launch/sensing.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
<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 +20,7 @@
</include>

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

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