vehicle_launch

vehicle_launch

Structure

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="lexus" description="vehicle model name"/>
  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>

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

https://github.com/tier4/autoware_launcher/blob/d880474/vehicle_launch/launch/vehicle_interface.launch.xml#L9

<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>

https://github.com/tier4/autoware_launcher/blob/d880474/vehicle_launch/launch/vehicle_description.launch.xml#L11

<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="lexus" description="vehicle model name"/>
  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
  <arg name="model" default="$(find-pkg-share 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>