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fix(tier4_localization_launch): add group tag #1237

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merged 4 commits into from
Jul 13, 2022
Merged

fix(tier4_localization_launch): add group tag #1237

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c139096
fix(tier4_localization_launch): add group tag
Jul 5, 2022
178f740
Merge branch 'main' into fix_localization_launch
Jul 12, 2022
5ce6314
add more args into group
Jul 12, 2022
b2a1bf1
Merge branch 'main' into fix_localization_launch
angry-crab Jul 13, 2022
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4 changes: 3 additions & 1 deletion launch/tier4_localization_launch/launch/localization.launch.xml
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Expand Up @@ -28,6 +28,8 @@
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml"/>
</group>
<!-- localization_error_monitor_module -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml"/>
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml"/>
</group>
</group>
</launch>
10 changes: 6 additions & 4 deletions ...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
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@@ -1,7 +1,9 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
<arg name="input/pose_with_cov" value="/localization/pose_with_covariance"/>
<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
<arg name="input/pose_with_cov" value="/localization/pose_with_covariance"/>
<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
</include>
</group>
</launch>
18 changes: 10 additions & 8 deletions launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml
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@@ -1,13 +1,15 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
<arg name="input_map_points_topic" value="/map/pointcloud_map"/>
<arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
<arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
<group>
<include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
<arg name="input_map_points_topic" value="/map/pointcloud_map"/>
<arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
<arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>

<arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
<arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="output_pose_topic" value="/localization/pose_estimator/pose"/>
<arg name="output_pose_with_covariance_topic" value="/localization/pose_estimator/pose_with_covariance"/>

<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/ndt_scan_matcher.param.yaml"/>
</include>
<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/ndt_scan_matcher.param.yaml"/>
</include>
</group>
</launch>
64 changes: 35 additions & 29 deletions ...4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
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@@ -1,34 +1,40 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
<arg name="enable_yaw_bias_estimation" value="False"/>
<arg name="tf_rate" value="50.0"/>
<arg name="twist_smoothing_steps" value="2"/>
<arg name="input_initial_pose_name" value="/initialpose3d"/>
<group>
<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
<arg name="enable_yaw_bias_estimation" value="False"/>
<arg name="tf_rate" value="50.0"/>
<arg name="twist_smoothing_steps" value="2"/>
<arg name="input_initial_pose_name" value="/initialpose3d"/>
<arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="output_odom_name" value="kinematic_state"/>
<arg name="output_pose_name" value="pose"/>
<arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
<arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
<arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
<arg name="output_twist_name" value="twist"/>
<arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
<arg name="proc_stddev_vx_c" value="10.0"/>
<arg name="proc_stddev_wz_c" value="5.0"/>
</include>
</group>

<arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="output_odom_name" value="kinematic_state"/>
<arg name="output_pose_name" value="pose"/>
<arg name="output_pose_with_covariance_name" value="/localization/pose_with_covariance"/>
<arg name="output_pose_without_yawbias_name" value="pose_without_yawbias"/>
<arg name="output_pose_with_covariance_without_yawbias_name" value="pose_with_covariance_without_yawbias"/>
<arg name="output_twist_name" value="twist"/>
<arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
<group>
<include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
<arg name="use_twist_with_covariance" value="True"/>
<arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
<arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
<arg name="output_odom_name" value="/localization/kinematic_state"/>
</include>
</group>

<arg name="proc_stddev_vx_c" value="10.0"/>
<arg name="proc_stddev_wz_c" value="5.0"/>
</include>
<include file="$(find-pkg-share stop_filter)/launch/stop_filter.launch.xml">
<arg name="use_twist_with_covariance" value="True"/>
<arg name="input_odom_name" value="/localization/pose_twist_fusion_filter/kinematic_state"/>
<arg name="input_twist_with_covariance_name" value="/localization/pose_twist_fusion_filter/twist_with_covariance"/>
<arg name="output_odom_name" value="/localization/kinematic_state"/>
</include>
<include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
<arg name="use_odom" value="true"/>
<arg name="in_odom" value="/localization/kinematic_state"/>
<arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="out_accel" value="/localization/acceleration"/>
</include>
<group>
<include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
<arg name="use_odom" value="true"/>
<arg name="in_odom" value="/localization/kinematic_state"/>
<arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="out_accel" value="/localization/acceleration"/>
</include>
</group>
</launch>
12 changes: 7 additions & 5 deletions launch/tier4_localization_launch/launch/twist_estimator/twist_estimator.launch.xml
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@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
<arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>
</include>
<group>
<include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
<arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>
</include>
</group>
</launch>
15 changes: 9 additions & 6 deletions launch/tier4_localization_launch/launch/util/util.launch.xml
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Expand Up @@ -11,11 +11,14 @@
<arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>

<!-- pose_initializer -->
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml"/>

<group>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml"/>
</group>
<!-- util -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var output/pointcloud)"/>
</include>
<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var output/pointcloud)"/>
</include>
</group>
</launch>