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tier4_vehicle_launch#

Structure#

tier4_vehicle_launch

Package Dependencies#

Please see <exec_depend> in package.xml.

Usage#

You can include as follows in *.launch.xml to use vehicle.launch.xml.

  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>

  <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
    <arg name="vehicle_model" value="$(var vehicle_model)"/>
    <arg name="sensor_model" value="$(var sensor_model)"/>
  </include>

Notes#

This package finds some external packages and settings with variables and package names.

ex.)

<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
<arg name="config_dir" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>

vehicle.xacro#

Arguments#

Name Type Description Default
sensor_model String sensor model name ""
vehicle_model String vehicle model name ""

Usage#

You can write as follows in *.launch.xml.

  <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
  <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
  <arg name="model" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
    <param name="robot_description" value="$(command 'xacro $(var model) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model)')"/>
  </node>
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