From ea29393e9741ba87b0e9c863814ea1667857ff01 Mon Sep 17 00:00:00 2001
From: Sebastian Klose <sebastianklose@users.noreply.github.com>
Date: Mon, 27 Aug 2018 13:17:41 +0200
Subject: [PATCH] Adding generic parametrizable offline_node.launch (#983)

And adapting offline_backpack_(2d|3d).launch to use it.

This will be useful for parametrizing evaluation runs as well.
---
 .../launch/offline_backpack_2d.launch         | 35 ++++++--------
 .../launch/offline_backpack_3d.launch         | 37 +++++++-------
 cartographer_ros/launch/offline_node.launch   | 48 +++++++++++++++++++
 3 files changed, 79 insertions(+), 41 deletions(-)
 create mode 100644 cartographer_ros/launch/offline_node.launch

diff --git a/cartographer_ros/launch/offline_backpack_2d.launch b/cartographer_ros/launch/offline_backpack_2d.launch
index b6b93cb..ebd30aa 100644
--- a/cartographer_ros/launch/offline_backpack_2d.launch
+++ b/cartographer_ros/launch/offline_backpack_2d.launch
@@ -1,5 +1,5 @@
 <!--
-  Copyright 2016 The Cartographer Authors
+  Copyright 2018 The Cartographer Authors
 
   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
@@ -15,25 +15,20 @@
 -->
 
 <launch>
+  <arg name="bag_filenames"/>
   <arg name="no_rviz" default="false"/>
-  <param name="/use_sim_time" value="true" />
+  <arg name="rviz_config" default="$(find cartographer_ros)/configuration_files/demo_2d.rviz"/>
+  <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/>
+  <arg name="configuration_basenames" default="backpack_2d.lua"/>
+  <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_2d.urdf"/>
 
-  <group unless="$(arg no_rviz)">
-    <node name="rviz" pkg="rviz" type="rviz" required="true"
-        args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
-
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-        type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
-  </group>
-
-  <node name="cartographer_offline_node" pkg="cartographer_ros"
-      required="$(arg no_rviz)"
-      type="cartographer_offline_node" args="
-          -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basenames backpack_2d.lua
-          -urdf_filenames $(find cartographer_ros)/urdf/backpack_2d.urdf
-          -bag_filenames $(arg bag_filenames)"
-      output="screen">
-    <remap from="echoes" to="horizontal_laser_2d" />
-  </node>
+  <remap from="echoes" to="horizontal_laser_2d"/>
+  <include file="$(find cartographer_ros)/launch/offline_node.launch">
+    <arg name="bag_filenames" value="$(arg bag_filenames)"/>
+    <arg name="no_rviz" value="$(arg no_rviz)"/>
+    <arg name="rviz_config" value="$(arg rviz_config)"/>
+    <arg name="configuration_directory" value="$(arg configuration_directory)"/>
+    <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
+    <arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
+  </include>
 </launch>
diff --git a/cartographer_ros/launch/offline_backpack_3d.launch b/cartographer_ros/launch/offline_backpack_3d.launch
index 0edc744..f5605ac 100644
--- a/cartographer_ros/launch/offline_backpack_3d.launch
+++ b/cartographer_ros/launch/offline_backpack_3d.launch
@@ -1,5 +1,5 @@
 <!--
-  Copyright 2016 The Cartographer Authors
+  Copyright 2018 The Cartographer Authors
 
   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
@@ -15,26 +15,21 @@
 -->
 
 <launch>
+  <arg name="bag_filenames"/>
   <arg name="no_rviz" default="false"/>
+  <arg name="rviz_config" default="$(find cartographer_ros)/configuration_files/demo_3d.rviz"/>
+  <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/>
+  <arg name="configuration_basenames" default="backpack_3d.lua"/>
+  <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_3d.urdf"/>
 
-  <param name="/use_sim_time" value="true" />
-
-  <group unless="$(arg no_rviz)">
-    <node name="rviz" pkg="rviz" type="rviz" required="true"
-        args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-        type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
-  </group>
-
-  <node name="cartographer_offline_node" pkg="cartographer_ros"
-      type="cartographer_offline_node" args="
-          -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basenames backpack_3d.lua
-          -urdf_filenames $(find cartographer_ros)/urdf/backpack_3d.urdf
-          -bag_filenames $(arg bag_filenames)"
-      output="screen"
-      required="$(arg no_rviz)">
-    <remap from="points2_1" to="horizontal_laser_3d" />
-    <remap from="points2_2" to="vertical_laser_3d" />
-  </node>
+  <remap from="points2_1" to="horizontal_laser_3d" />
+  <remap from="points2_2" to="vertical_laser_3d" />
+  <include file="$(find cartographer_ros)/launch/offline_node.launch">
+    <arg name="bag_filenames" value="$(arg bag_filenames)"/>
+    <arg name="no_rviz" value="$(arg no_rviz)"/>
+    <arg name="rviz_config" value="$(arg rviz_config)"/>
+    <arg name="configuration_directory" value="$(arg configuration_directory)"/>
+    <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
+    <arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
+  </include>
 </launch>
diff --git a/cartographer_ros/launch/offline_node.launch b/cartographer_ros/launch/offline_node.launch
new file mode 100644
index 0000000..144afeb
--- /dev/null
+++ b/cartographer_ros/launch/offline_node.launch
@@ -0,0 +1,48 @@
+<!--
+  Copyright 2018 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <arg name="bag_filenames"/>
+  <arg name="no_rviz"/>
+  <arg unless="$(arg no_rviz)" name="rviz_config"/>
+  <arg name="configuration_directory"/>
+  <arg name="configuration_basenames"/>
+  <arg name="urdf_filenames"/>
+
+  <param name="/use_sim_time" value="true" />
+
+  <group unless="$(arg no_rviz)">
+    <node name="rviz"
+          pkg="rviz"
+          type="rviz"
+          required="true"
+          args="-d $(arg rviz_config)" />
+
+    <node name="cartographer_occupancy_grid_node"
+        pkg="cartographer_ros"
+        type="cartographer_occupancy_grid_node"
+        args="-resolution 0.05" />
+  </group>
+
+  <node name="cartographer_offline_node" pkg="cartographer_ros"
+      required="$(arg no_rviz)"
+      type="cartographer_offline_node" args="
+          -configuration_directory $(arg configuration_directory)
+          -configuration_basenames $(arg configuration_basenames)
+          -urdf_filenames $(arg urdf_filenames)
+          -bag_filenames $(arg bag_filenames)"
+      output="screen"/>
+</launch>