110 lines
5.0 KiB
XML
110 lines
5.0 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) 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 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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-->
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<launch>
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<include file="$(find catvehicle)/launch/catvehicle_empty.launch">
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</include>
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<param name="enable_statistics" value="true" />
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<arg name="robot" default="catvehicle"/>
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<arg name="leader" default="toyota"/>
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<arg name="dx_min" default = "4.5"/>
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<arg name="dx_activate" default = "6.0"/>
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<arg name="velodyne_points" default="false"/>
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<arg name="camera_left" default="false"/>
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<arg name="camera_right" default="false"/>
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<arg name="triclops" default="false"/>
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<arg name="ego_laser_sensor" default="true"/>
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<arg name="leader_laser_sensor" default="true"/>
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<arg name="obstaclestopper" default="false"/>
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<arg name="rosbag" default="false"/>
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<arg name="csvfile" default="/home/ivory/CyverseData/JmscslgroupData/PandaData/2020_02_18/2020-02-18-13-00-42-209119__CAN_Messages.csv"/>
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<arg name="dbcfile" default="/home/ivory/VersionControl/Jmscslgroup/strym/examples/newToyotacode.dbc"/>
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<group ns="$(arg leader)">
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle.xacro' roboname:='$(arg leader)' camera_left:='$(arg camera_left)' camera_right:='$(arg camera_right)' triclops:='$(arg triclops)' velodyne_points:='$(arg velodyne_points)' laser_points:='$(arg leader_laser_sensor)'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="$(arg leader)"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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<arg name="init_pose" value="-x 15.0 -y 0.0 -z 0.0"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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</include>
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<node pkg="catvehicle" type="drive_lead.py" name="drive_lead_$(arg leader)" output="screen" required="true" args="$(arg csvfile) $(arg dbcfile)">
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<remap from="cmd_vel" to="cmd_control_vel"/>
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</node>
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<node pkg="hoffmansubsystem" type="hoffmansubsystem_node" name="hoffmansubsystem_$(arg leader)" output="screen" required="true"/>
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</group>
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<node name="recorder" pkg="rosbag" type="record" output="screen" args=" -o /home/ivory/VersionControl/Jmscslgroup/safetyfs/bagfiles/fs-test1_dxmin_$(arg dx_min)_dx_activate_$(arg dx_activate) -a" if="$(arg rosbag)"/>
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<group ns="$(arg robot)">
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle.xacro' roboname:='$(arg robot)' camera_left:='$(arg camera_left)' camera_right:='$(arg camera_right)' triclops:='$(arg triclops)' velodyne_points:='$(arg velodyne_points)' laser_points:='$(arg ego_laser_sensor)'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="$(arg robot)"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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<arg name="init_pose" value="-x 0.0 -y 0.0 -z 0.0"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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</include>
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<!--node pkg="kf" type="kf_node" name="kf_$(arg robot)" output="screen" required="true">
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<remap from="d_relative" to="/$(arg robot)/distanceEstimatorSteeringBased/dist"/>
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</node-->
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<!--node name="velocityEstimator" pkg="catvehicle" type="velocityEstimator" output="screen">
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<param name="dist_topic" value="/$(arg robot)/distanceEstimatorSteeringBased/dist"/>
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<param name="vel_topic" value="/$(arg robot)/v_relative"/>
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</node-->
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<node pkg="fs" type="fs_node" name="fs_$(arg robot)" output="screen" required="true">
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<!--remap from="v_ref" to="/$(arg leader)/vel"/-->
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<remap from="d_relative" to="/$(arg robot)/distanceEstimator/dist"/>
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<remap from="cmd_vel" to="cmd_control_vel"/>
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</node>
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<node pkg="hoffmansubsystem" type="hoffmansubsystem_node" name="hoffmansubsystem_$(arg robot)" output="screen" required="true"/>
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</group>
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</launch>
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