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120 lines (104 loc) · 4.78 KB
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<?xml version="1.0"?>
<launch>
<!-- Load the environment and Gazebo -->
<arg name="debug" default="false"/>
<arg name="use_ign" default="true"/>
<arg name="simcomms" default="true"/>
<arg name="scenario" default="tunnel_practice_2"/>
<arg name="voxblox" default="false"/>
<arg name="ground" default="true"/>
<arg name="air" default="false"/>
<arg name="beacons1" default="false"/>
<arg name="beacons2" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<group if="$(arg use_ign)">
<group if="$(arg simcomms)">
<include file="$(env HOME)/marble/scripts/robots_ign.launch">
<arg name="ground" value="$(arg ground)"/>
<arg name="air" value="$(arg air)"/>
<arg name="beacons1" value="$(arg beacons1)"/>
<arg name="beacons2" value="$(arg beacons2)"/>
</include>
</group>
<!-- Launch virtual comms. Probably need a different way in case we have an air vehicle-->
<group unless="$(arg simcomms)">
<include file="$(find marble_virtual_comms)/launch/virtual_team.launch" />
</group>
</group>
<group unless="$(arg use_ign)">
<param name="subt/gazebo_worlds_dir" value="$(find subt_gazebo)/worlds/" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name"
value="$(find subt_gazebo)/worlds/$(arg scenario).world" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="false"/>
<arg name="headless" value="false"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args) --verbose"/>
</include>
<!-- Load our robots. May want to add parameters to decide which robots. -->
<include file="$(env HOME)/marble/scripts/robots_$(arg scenario).launch" />
</group>
<!-- Start Voxblox. May want to add parameter to launch either voxblox or octomap. -->
<!-- <include file="$(env HOME)/marble/scripts/voxblox.launch"> -->
<!-- <arg name="robot_name" value="X1" /> -->
<!-- </include> -->
<!-- -->
<!-- <include file="$(env HOME)/marble/scripts/voxblox.launch"> -->
<!-- <arg name="robot_name" value="X2" /> -->
<!-- </include> -->
<!-- -->
<!-- <!-- Start filtering for voxblox, to remove the ground --> -->
<!-- <include file="$(env HOME)/marble/scripts/filter.launch"> -->
<!-- <arg name="robot_name" value="X1" /> -->
<!-- </include> -->
<!-- -->
<!-- <include file="$(env HOME)/marble/scripts/filter.launch"> -->
<!-- <arg name="robot_name" value="X2" /> -->
<!-- </include> -->
<group if="$(arg ground)">
<include file="$(env HOME)/marble/scripts/box_filter.launch" ns="X1">
<arg name="vehicle" value="X1" />
</include>
<include file="$(env HOME)/marble/scripts/box_filter.launch" ns="X2">
<arg name="vehicle" value="X2" />
</include>
<!-- Start Octomap -->
<include file="$(find marble_mapping)/launch/marble_mapping.launch" ns="X1">
<!-- <arg name="frame_id" value="world" /> -->
<arg name="cloud_in" value="octomap_in" />
<arg name="max_range" value="5.0" />
</include>
<include file="$(find marble_mapping)/launch/marble_mapping.launch" ns="X2">
<!-- <arg name="frame_id" value="world2" /> -->
<!-- <arg name="resolution" value="0.1" /> -->
<arg name="cloud_in" value="octomap_in" />
<arg name="max_range" value="5.0" />
</include>
</group>
<include file="$(find marble_mapping)/launch/marble_mapping_base.launch" ns="Base">
<!-- <arg name="frame_id" value="world" /> -->
</include>
<group if="$(arg air)" ns="A01">
<include file="$(env HOME)/marble/scripts/box_filter_air.launch">
<arg name="vehicle" value="A01" />
</include>
<!-- <node name="relay_ouster" type="relay" pkg="topic_tools" args="octomap_in vb_cloud"/> -->
<!-- <node name="relay_up_pico_flexx" type="relay" pkg="topic_tools" args="tof_top/depth/points vb_cloud"/> -->
<!-- <node name="relay_down_pico_flexx" type="relay" pkg="topic_tools" args="tof_bottom/depth/points vb_cloud"/> -->
<!-- <node name="relay_ouster" type="relay" pkg="topic_tools" args="points"/> -->
<node name="relay_up_pico_flexx" type="relay" pkg="topic_tools" args="tof_top/depth/points points"/>
<node name="relay_down_pico_flexx" type="relay" pkg="topic_tools" args="tof_bottom/depth/points points"/>
<include file="$(find marble_mapping)/launch/marble_mapping.launch">
<!-- <arg name="frame_id" value="world" /> -->
<!-- <arg name="cloud_in" value="vb_cloud" /> -->
<arg name="cloud_in" value="octomap_in" />
<arg name="max_range" value="10.0" />
</include>
<group if="$(arg voxblox)">
<include file="$(env HOME)/marble/scripts/voxblox_air.launch">
</include>
</group>
</group>
</launch>