Replaced minimaze_ar.world with a new one containing AR markers that … #40
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ar_track_alvar can detect. Added a launch file for the world. Added AR tag models used by the world.
kruusamae
requested changes
Apr 30, 2021
launch/world_minimaze_ar.launch
Outdated
Comment on lines
3
to
20
| <arg name="__ns" default=""/> | ||
| <arg name="world" default="$(find robotont_gazebo)/worlds/minimaze_ar.world" /> | ||
| <arg name="x_pos" default="2"/> | ||
| <arg name="model" default="robotont_gazebo_nuc"/> | ||
| <env name="GAZEBO_MODEL_PATH" value="$(find robotont_gazebo)/models:$GAZEBO_MODEL_PATH" /> | ||
| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="world_name" value="$(arg world)"/> | ||
| </include> | ||
| <include file="$(find robotont_gazebo)/launch/upload_description.launch"> | ||
| <arg name="__ns" value="$(arg __ns)"/> | ||
| <arg name="model" default="$(arg model)"/> | ||
| </include> | ||
| <!-- topic for 3d_mapping --> | ||
| <node if="$(eval model == 'robotont_gazebo_nuc')" name="relay" type="relay" pkg="topic_tools" args="camera/depth/image_rect_raw camera/aligned_depth_to_color/image_raw" /> | ||
|
|
||
| <include file="$(find robotont_gazebo)/launch/spawn_urdf.launch" > | ||
| <arg name="x_pos" value="$(arg x_pos)" /> | ||
| </include> |
There was a problem hiding this comment.
launch-file seems overly complicated. try following the modular logic of ROS and our robotont packages. i can't think of any reason why this launch-file should not be copying the structure of world_minimaze.launch
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
…ar_track_alvar can detect. Added a launch file for the world. Added AR tag models used by the world.