108 lines
5.2 KiB
XML
108 lines
5.2 KiB
XML
<?xml version="1.0"?>
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<!--
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Author: Jonathan Sprinkle, Rahul Bhadani
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Copyright (c) 2016-2020 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 ARIZONA BOARD OF REGENTS 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 ARIZONA BOARD OF REGENTS 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 is used to broadcast tf and robot parameters for playback
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or live visualization of data through rviz
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How to execute it:
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=================
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roslaunch catvehicle catvehicle-tf.launch
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-->
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<launch>
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<arg name="robot_name" default="catvehicle"/>
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<arg name="tyre_height" default="0.7"/>
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<arg name="halftyre_height" default="0.32"/>
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<arg name="car_width" default="0.77"/>
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<arg name="car_length" default="1.55"/>
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<arg name="car_height" default="1.5837572084" />
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<arg name="tyre_front_x" default="1.52"/>
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<arg name="tyre_back_x" default="-1.1"/>
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<include file="$(find catvehicle)/launch/robotviz.launch"/>
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<node pkg="tf" type="static_transform_publisher" name="odom2ins_$(arg robot_name)"
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args="-0.8 -$(arg car_width) 0.0 0 0 0 catvehicle/odom catvehicle/base_link 10"/>
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<!-- JMS adapted this to refer to base_link rather than ins
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<node pkg="tf" type="static_transform_publisher" name="baselink2velodyne_$(arg robot_name)"
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args="1.2 0 0.75 0 0 0 catvehicle/ins velodyne 10"/>-->
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<node pkg="tf" type="static_transform_publisher" name="baselink2velodyne_$(arg robot_name)"
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args="-0.6 0 2.12 0 0 0 catvehicle/base_link velodyne 10"/>
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<!-- convert from the velodyne to a /catvehicle/velodyne_link frame -->
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<node pkg="tf" type="static_transform_publisher" name="velodyne2velodyne_link_$(arg robot_name)"
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args="0 0 0 0 0 0 velodyne catvehicle/velodyne_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="baselinkr2front_laser_link_tf_$(arg robot_name)"
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args="2.5 0.0 1.1 0.0 0 0 catvehicle/base_link catvehicle/front_laser_link 75"/>
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<node pkg="tf" type="static_transform_publisher" name="baselink_laser_tf_$(arg robot_name)"
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args="2.5 0.0 1.1 0.0 0 0 catvehicle/base_link laser 75"/>
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<!-- JMS: Note, I think that if we stop doing this, things will make more sense; should be a tf broadcasted
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from the odometrybroadcaster_node in a package w/ hwil capabilities -->
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<!--node pkg="tf" type="static_transform_publisher" name="baselink2odom_tf_$(arg robot_name)"
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args="-1.25 0 $(arg halftyre_height) 0 0 0 catvehicle/base_link catvehicle/odom 75"/-->
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<node pkg="tf" type="static_transform_publisher" name="baselink2mainmass_tf_$(arg robot_name)"
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args="0 0 0 0 0 0 catvehicle/base_link catvehicle/main_mass 20"/>
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<node pkg="tf" type="static_transform_publisher" name="baselink2leftFtire_tf_$(arg robot_name)"
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args="$(arg tyre_front_x) -$(arg car_width) $(arg tyre_height) 3.14159265359 0 0 catvehicle/base_link catvehicle/front_left_wheel_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="baselink2rightFtire_tf_$(arg robot_name)"
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args="$(arg tyre_front_x) $(arg car_width) $(arg tyre_height) 3.14159265359 0 0 catvehicle/base_link catvehicle/front_right_wheel_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="baselink2leftRtire_tf_$(arg robot_name)"
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args="$(arg tyre_back_x) -$(arg car_width) $(arg tyre_height) 3.14159265359 0 0 catvehicle/base_link catvehicle/back_left_wheel_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="baselink2rightRtire_tf_$(arg robot_name)"
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args="$(arg tyre_back_x) $(arg car_width) $(arg tyre_height) 3.14159265359 0 0 catvehicle/base_link catvehicle/back_right_wheel_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="rightFtire2rightFtiresteering_tf_$(arg robot_name)"
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args="0 0 0 0 0 0 catvehicle/front_right_wheel_link catvehicle/front_right_steering_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="leftFtire2leftFtiresteering_tf_$(arg robot_name)"
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args="0 0 0 0 0 0 catvehicle/front_left_wheel_link catvehicle/front_left_steering_link 10"/>
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<node pkg="tf" type="static_transform_publisher" name="velodynelink2cameraleft_tf_$(arg robot_name)"
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args="-0.56 0.44 0 0 0 0 catvehicle/velodyne_link catvehicle/camera_left_link 5"/>
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<node pkg="tf" type="static_transform_publisher" name="velodynelink2cameraright_tf_$(arg robot_name)"
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args="-0.56 -0.44 0 0 0 0 catvehicle/velodyne_link catvehicle/camera_right_link 5"/>
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<node pkg="tf" type="static_transform_publisher" name="velodynelink2camera_tf_$(arg robot_name)"
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args="0.54 0 -0.08 0 0 0 catvehicle/velodyne_link catvehicle/triclops_link 5"/>
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</launch>
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