fzirker/wlan_pioneer
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start heatmap

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This commit is contained in:
Florian Zirker 2018-12-18 19:00:19 +01:00
parent d6a267c4eb
commit 517628784e
2 changed files with 36 additions and 12 deletions
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16
launch/heatmap.launch Normal file
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@ -0,0 +1,16 @@
<launch>
<arg name="spacing" default="0.4" />
<param name="/use_sim_time" value="true"/>
<node name="heatmap_client" pkg="heatmap" type="heatmap_client" respawn="false" />
<node name="path_planner" pkg="heatmap" type="path_planner.py" respawn="false" output="screen">
<param name="coverage_spacing" value="$(arg spacing)" />
</node>
<node name="distance_measure" pkg="heatmap" type="distance_measure"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find heatmap)/heatmap_sim.rviz" respawn="false" />
</launch>

32
launch/pioneerMasterLaunchFile.launch
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@ -1,16 +1,18 @@
<launch> <launch>
<!-- Defining the arguments --> <!-- Defining the arguments -->
<arg name="HokuyoLaser" value="0" /> <arg name="HokuyoLaser" value="0" />
<arg name="SICKLMSLaser" value="1" /> <arg name="SICKLMSLaser" value="1" />
<arg name="P2OS_Driver" value="1" /> <arg name="P2OS_Driver" value="1" />
<arg name="KeyboardTeleop" value="0" /> <arg name="KeyboardTeleop" value="0" />
<arg name="JoystickTeleop" value="1" /> <arg name="JoystickTeleop" value="1" />
<arg name="Transform" value="1" /> <arg name="Transform" value="1" />
<arg name="Dashboard" value="0" /> <arg name="Dashboard" value="0" />
<arg name="enableMotor" value="1" /> <arg name="enableMotor" value="1" />
<arg name="enableWlanScan" value="1" /> <arg name="enableWlanScan" value="1" />
<arg name="enableGmapping" value="1" /> <arg name="enableGmapping" value="1" />
<arg name="enableBagging" value="1" /> <arg name="enableBagging" value="1" />
<arg name="enableHeatmap" value="0" />
<!-- Set wifi interface and start wlan logging --> <!-- Set wifi interface and start wlan logging -->
<group if="$(arg enableWlanScan)" > <group if="$(arg enableWlanScan)" >
@ -69,5 +71,11 @@
args="record -o /tmp/wlan_pioneer /pose /scan /tf /wlan_signal" /> args="record -o /tmp/wlan_pioneer /pose /scan /tf /wlan_signal" />
</group> </group>
<group if="$(arg enableHeatmap)" >
<include file="$(find wlan_pioneer)/launch/heatmap.launch"/>
</group>
</launch> </launch>