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Feature/support camera option #60

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Feature/support camera option #60

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334b1b3
Add xacro option arg to every launch to support lidar option
Tiryoh Nov 5, 2020
85840ba
Fix default value
Tiryoh Nov 5, 2020
8b2a7ea
Merge branch 'master' into feature/support-lidar-option
Tiryoh Sep 21, 2021
26c9514
Support lidar_frame rename option
Tiryoh Sep 21, 2021
b4e9f6f
Remove unused arg
Tiryoh Sep 22, 2021
b6fc305
Add arg for backward compatibility
Tiryoh Sep 22, 2021
16b0401
Support camera option
Tiryoh Sep 22, 2021
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17 changes: 16 additions & 1 deletion raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,13 @@
<arg name="debug" default="false" />
<arg name="use_devfile" default="false" />
<arg name="world_name" default="$(find raspimouse_gazebo)/worlds/empty.world" />
<arg name="xacro_option" default="lidar:=none" />
<arg name="robot_namespace" default="/" />
<arg name="urg" default="false" />
<arg name="laser_option" default="laser_visual:=false" />
<arg name="lidar_frame" default="laser" />
<arg name="camera" default="false" />
<arg name="camera_visual_option" default="camera_visual:=false" />
<arg name="xacro_option" default="" />

<!-- Initial position in Gazebo -->
<arg name="x0" default="0"/>
Expand All @@ -36,6 +41,12 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen" />

<arg name="urg_option" value="lidar:='urg'" if="$(arg urg)" />
<arg name="urg_option" value="lidar:='none'" unless="$(arg urg)" />

<arg name="camera_option" value="camera:=true" if="$(arg camera)" />
<arg name="camera_option" value="camera:=false" unless="$(arg camera)" />

<group if="$(arg use_devfile)">
<!-- Simulate device file -->
<include file="$(find raspimouse_fake)/launch/virtual_device_file.launch" />
Expand All @@ -45,6 +56,8 @@
robot_namespace:='$(arg robot_namespace)'
diffdrive_namespace:='$(arg robot_namespace)raspimouse_on_gazebo'
sensor_namespace:='raspimouse_on_gazebo'
$(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
$(arg camera_option) $(arg camera_visual_option)
$(arg xacro_option)" />
</group>
<group unless="$(arg use_devfile)">
Expand All @@ -56,6 +69,8 @@
robot_namespace:='$(arg robot_namespace)'
diffdrive_namespace:='$(arg robot_namespace)'
sensor_namespace:='raspimouse_on_gazebo'
$(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
$(arg camera_option) $(arg camera_visual_option)
$(arg xacro_option)" />
</group>
</launch>
5 changes: 4 additions & 1 deletion raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="urg" default="true" />
<arg name="lidar_frame" default="laser" />
<arg name="use_devfile" default="false" />
<arg name="x0" default="0" />
<arg name="y0" default="0" />
Expand All @@ -14,7 +16,8 @@
<!-- Load the Gazebo simulator with specified world file -->
<include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
<arg name="world_name" value="$(find raspimouse_gazebo)/worlds/gas_station.world" />
<arg name="xacro_option" value="lidar:=urg" />
<arg name="urg" value="$(arg urg)" />
<arg name="lidar_frame" value="$(arg lidar_frame)" />
<arg name="use_devfile" value="$(arg use_devfile)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
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3 changes: 2 additions & 1 deletion raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="urg" default="false" />
<arg name="use_devfile" default="false" />
<arg name="x0" default="0" />
<arg name="y0" default="0" />
Expand All @@ -14,7 +15,7 @@
<!-- Load the Gazebo simulator with specified world file -->
<include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
<arg name="world_name" value="$(find raspimouse_gazebo)/worlds/sample_maze.world" />
<arg name="xacro_option" value="lidar:=none" />
<arg name="urg" value="$(arg urg)" />
<arg name="use_devfile" value="$(arg use_devfile)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
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5 changes: 4 additions & 1 deletion raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="urg" default="true" />
<arg name="lidar_frame" default="laser" />
<arg name="use_devfile" default="false" />
<arg name="x0" default="0" />
<arg name="y0" default="0" />
Expand All @@ -14,7 +16,8 @@
<!-- Load the Gazebo simulator with specified world file -->
<include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
<arg name="world_name" value="$(find raspimouse_gazebo)/worlds/willowgarage.world" />
<arg name="xacro_option" value="lidar:=urg" />
<arg name="urg" value="$(arg urg)" />
<arg name="lidar_frame" value="$(arg lidar_frame)" />
<arg name="use_devfile" value="$(arg use_devfile)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
Expand Down