forked from xtdrone/XTDrone
93 lines
3.5 KiB
XML
93 lines
3.5 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Author: Rahul Kumar Bhadani
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Copyright (c) 2018 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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========
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This launch file applies a velocity profile to the leader car already loaded into the simulator.
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Prerequisite:
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=============
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1. Load the world
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roslaunch azcar_sim azcar_empty.launch
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2. Load the leader
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roslaunch azcar_sim humancar_spwan_nocmd.launch robot1:=azcar_sim X:=0 Y:=0 Z:=0 roll:=0 pitch:=0 yaw:=0
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3. Load the follower
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roslaunch azcar_sim humancar_spwan_nocmd.launch robot1:=follower_sim X:=10 Y:=0 Z:=0 roll:=0 pitch:=0 yaw:=0
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How to execute this file?
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roslaunch azcar_sim stepvel.launch robot:=car1
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-->
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<launch>
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<param name="enable_statistics" value="true" />
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<arg name="robot" default="catvehicle"/>
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<arg name="vel" default="2.0"/> <!-- 35.5 m/s is upper limit in the velocity-->
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<arg name="strAng" default="0.0"/>
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<group ns="$(arg robot)">
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<param name="constVel" value="$(arg vel)"/>
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<param name="strAngle" value="$(arg strAng)"/>
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<node pkg="stepvel" type="stepvel_node" name="stepvel_$(arg robot)" output="screen" required="true"/>
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<!--
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<node name="recorder" pkg="rosbag" type="record" output="screen" args=" -o stepvel_ -a" />
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<node pkg="hoffmansubsystem" type="hoffmansubsystem_node" name="hoffmansubsystem_node_$(arg robot)" output="screen" required="true">
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</node>
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-->
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<!--node pkg="sin_str0_leadervel_exp4_steer" type="sin_str0_leadervel_exp4_steer_node" name="sin_str0_leadervel_exp4_steer_$(arg robot)" output="screen" required="true"-->
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<!--node pkg="azcar_sim" type="leadercmd" name="leadercmd_$(arg robot)" output="screen" required="true"-->
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<!--
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<node pkg="hoffmannfollower" type="hoffmannfollower_node" name="hoffmanfollower_$(arg robot)" output="screen" required="true">
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<remap from="/azcar_sim/vel" to="/$(arg robot)/vel"/>
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<remap from="/azcar_sim/steering" to="/$(arg robot)/steering"/>
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<remap from="/azcar_sim/cmd_vel" to="/$(arg robot)/cmd_vel"/>
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<remap from="/azcar_sim/cmd_vel_safe" to="/$(arg robot)/cmd_vel_safe"/>
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<remap from="/azcar_sim/odom" to="/$(arg robot)/odom"/>
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<remap from="/azcar_sim/waypoint" to="/$(arg robot)/waypoint"/>
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</node>
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-->
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<!--
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<node pkg="azcar_sim" type="joy2cmdvel.py" name="joy2cmdvel" output="screen"
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required="true">
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<param name="namespace" value="/$(arg robot)"/>
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<remap from="/azcar_sim/cmd_vel" to="/$(arg robot)/cmd_vel" />
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</node>
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-->
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</group>
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</launch>
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