rmp.launch

<?xml version="1.0" encoding="utf-8"?>
<launch>

  <!-- Load local planner parameters -->
  <rosparam ns="field_local_planner" file="$(find field_local_planner_rmp_plugin)/config/rmp.yaml" subst_value="true"/>
  
  <!-- Debugging flags -->
  <arg name="debug"          default="false"/>
  <arg name="real_carrot"    default="true"/>
  <arg name="action_client"  default="false"/>

  <arg name="elevation_map_topic"           default="/elevation_mapping/elevation_map_raw"/>
  <arg name="elevation_map_filtered_topic"  default="/elevation_mapping/elevation_map_filtered"/>
  <arg name="elevation_map_wifi_topic"      default="/elevation_mapping/elevation_map_wifi"/>

  <!-- Include local planner launch -->
  <include file="$(find field_local_planner_ros)/launch/local_planner.launch.xml">
    <arg name="debug"              value="$(arg debug)"/>
    <arg name="real_carrot"        value="$(arg real_carrot)"/>
    <arg name="action_client"      value="$(arg action_client)"/>
    <arg name="pose_topic"         value="/state_estimator/pose_in_odom"/>
    <arg name="twist_topic"        value="/state_estimator/twist"/>
    <arg name="grid_map_topic"     value="$(arg elevation_map_filtered_topic)"/>
    <arg name="goal_topic"         value="/initialpose"/>
    <arg name="joy_twist_topic"    value="/cmd_vel"/>
    <arg name="output_twist_type"  value="twist_stamped"/>
    <arg name="output_twist_topic" value="/path_planning_and_following/twist"/>
  </include>

  <!-- Launch grid map filters -->
  <!-- The first computes all the representations -->
  <include file="$(find grid_map_filters_drs)/launch/filter_chain.launch">
    <arg name="input_topic"           value="$(arg elevation_map_topic)"/>
    <arg name="output_topic"          value="$(arg elevation_map_filtered_topic)"/>
    <arg name="filter_chain_config"   value="$(find field_local_planner_rmp_plugin)/config/filter_chain_cupy.yaml"/>
    <arg name="viz_config"            value="$(find field_local_planner_rmp_plugin)/config/filter_chain_visualizations.yaml"/>
    <arg name="viz"                   value="true"/>
  </include>

  <!-- The second just produces a simplified grid map with the debugging layers -->
  <include file="$(find grid_map_filters_drs)/launch/filter_chain.launch">
    <arg name="suffix"                value="_wifi"/>
    <arg name="input_topic"           value="$(arg elevation_map_filtered_topic)"/>
    <arg name="output_topic"          value="$(arg elevation_map_wifi_topic)"/>
    <arg name="filter_chain_config"   value="$(find field_local_planner_rmp_plugin)/config/filter_chain_wifi.yaml"/>
    <arg name="viz"                   value="false"/>
  </include>

</launch>