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Adding launch file arg for launch-prefix to offline nodes (#1066) 

Useful for debugging with gdb or profiling, e.g. with perf.
master
Sebastian Klose 2018-10-17 13:03:35 +02:00 committed by GitHub
parent e2f72ff514
commit 6b9d8ff2d5
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3 changed files with 6 additions and 0 deletions
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2
cartographer_ros/launch/offline_backpack_2d.launch
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@ -21,6 +21,7 @@
<arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/> <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/>
<arg name="configuration_basenames" default="backpack_2d.lua"/> <arg name="configuration_basenames" default="backpack_2d.lua"/>
<arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_2d.urdf"/> <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_2d.urdf"/>
<arg name="launch_prefix" default=""/>
<remap from="echoes" to="horizontal_laser_2d"/> <remap from="echoes" to="horizontal_laser_2d"/>
<include file="$(find cartographer_ros)/launch/offline_node.launch"> <include file="$(find cartographer_ros)/launch/offline_node.launch">
@ -30,5 +31,6 @@
<arg name="configuration_directory" value="$(arg configuration_directory)"/> <arg name="configuration_directory" value="$(arg configuration_directory)"/>
<arg name="configuration_basenames" value="$(arg configuration_basenames)"/> <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
<arg name="urdf_filenames" value="$(arg urdf_filenames)"/> <arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include> </include>
</launch> </launch>

2
cartographer_ros/launch/offline_backpack_3d.launch
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@ -21,6 +21,7 @@
<arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/> <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/>
<arg name="configuration_basenames" default="backpack_3d.lua"/> <arg name="configuration_basenames" default="backpack_3d.lua"/>
<arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_3d.urdf"/> <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_3d.urdf"/>
<arg name="launch_prefix" default=""/>
<remap from="points2_1" to="horizontal_laser_3d" /> <remap from="points2_1" to="horizontal_laser_3d" />
<remap from="points2_2" to="vertical_laser_3d" /> <remap from="points2_2" to="vertical_laser_3d" />
@ -31,5 +32,6 @@
<arg name="configuration_directory" value="$(arg configuration_directory)"/> <arg name="configuration_directory" value="$(arg configuration_directory)"/>
<arg name="configuration_basenames" value="$(arg configuration_basenames)"/> <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
<arg name="urdf_filenames" value="$(arg urdf_filenames)"/> <arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include> </include>
</launch> </launch>

2
cartographer_ros/launch/offline_node.launch
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@ -21,6 +21,7 @@
<arg name="configuration_directory"/> <arg name="configuration_directory"/>
<arg name="configuration_basenames"/> <arg name="configuration_basenames"/>
<arg name="urdf_filenames"/> <arg name="urdf_filenames"/>
<arg name="launch_prefix"/>
<param name="/use_sim_time" value="true" /> <param name="/use_sim_time" value="true" />
@ -44,5 +45,6 @@
-configuration_basenames $(arg configuration_basenames) -configuration_basenames $(arg configuration_basenames)
-urdf_filenames $(arg urdf_filenames) -urdf_filenames $(arg urdf_filenames)
-bag_filenames $(arg bag_filenames)" -bag_filenames $(arg bag_filenames)"
launch-prefix="$(arg launch_prefix)"
output="screen"/> output="screen"/>
</launch> </launch>