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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.
master
Sebastian Klose 2018-08-27 13:17:41 +02:00 committed by Wally B. Feed
parent c12da5e8b3
commit ea29393e97
3 changed files with 79 additions and 41 deletions
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35
cartographer_ros/launch/offline_backpack_2d.launch
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@ -1,5 +1,5 @@
<!-- <!--
Copyright 2016 The Cartographer Authors Copyright 2018 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License"); Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License. you may not use this file except in compliance with the License.
@ -15,25 +15,20 @@
--> -->
<launch> <launch>
<arg name="bag_filenames"/>
<arg name="no_rviz" default="false"/> <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)"> <remap from="echoes" to="horizontal_laser_2d"/>
<node name="rviz" pkg="rviz" type="rviz" required="true" <include file="$(find cartographer_ros)/launch/offline_node.launch">
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /> <arg name="bag_filenames" value="$(arg bag_filenames)"/>
<arg name="no_rviz" value="$(arg no_rviz)"/>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" <arg name="rviz_config" value="$(arg rviz_config)"/>
type="cartographer_occupancy_grid_node" args="-resolution 0.05" /> <arg name="configuration_directory" value="$(arg configuration_directory)"/>
</group> <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
<arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
<node name="cartographer_offline_node" pkg="cartographer_ros" </include>
required="$(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>
</launch> </launch>

37
cartographer_ros/launch/offline_backpack_3d.launch
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@ -1,5 +1,5 @@
<!-- <!--
Copyright 2016 The Cartographer Authors Copyright 2018 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License"); Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License. you may not use this file except in compliance with the License.
@ -15,26 +15,21 @@
--> -->
<launch> <launch>
<arg name="bag_filenames"/>
<arg name="no_rviz" default="false"/> <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="$(find cartographer_ros)/urdf/backpack_3d.urdf"/>
<param name="/use_sim_time" value="true" /> <remap from="points2_1" to="horizontal_laser_3d" />
<remap from="points2_2" to="vertical_laser_3d" />
<group unless="$(arg no_rviz)"> <include file="$(find cartographer_ros)/launch/offline_node.launch">
<node name="rviz" pkg="rviz" type="rviz" required="true" <arg name="bag_filenames" value="$(arg bag_filenames)"/>
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" /> <arg name="no_rviz" value="$(arg no_rviz)"/>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" <arg name="rviz_config" value="$(arg rviz_config)"/>
type="cartographer_occupancy_grid_node" args="-resolution 0.05" /> <arg name="configuration_directory" value="$(arg configuration_directory)"/>
</group> <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
<arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
<node name="cartographer_offline_node" pkg="cartographer_ros" </include>
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>
</launch> </launch>

48
cartographer_ros/launch/offline_node.launch Normal file
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@ -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>