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fix(deviation_evaluator): debugged map_launch in launch file #6

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merged 2 commits into from
Jul 15, 2022
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fix(deviation_evaluator): debugged map_launch in launch file #6

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a9c0fb8
fix(deviation_evaluator): debugged map_launch in launch file
kminoda Jul 7, 2022
9766e22
Merge branch 'tier4/universe' into fix/map_launch_in_localization_tool
kminoda Jul 15, 2022
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10 changes: 5 additions & 5 deletions ...tion/deviation_estimation_tools/deviation_evaluator/launch/deviation_evaluator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,7 @@
<arg name="out_ekf_odom" default="/localization/deviation_evaluator/ekf_localizer/kinematic_state"/>
<arg name="out_twist_with_covariance" default="/localization/deviation_evaluator/twist_estimator/twist_with_covariance"/>
<arg name="out_pose_with_covariance" default="/localization/deviation_evaluator/pose_estimator/pose_with_covariance"/>
<arg name="lanelet2_map_file" default="lanelet2_map.osm" />
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
<arg name="lanelet2_map_file" default="$(var map_path)/lanelet2_map.osm" />

<node pkg="deviation_evaluator" exec="deviation_evaluator" name="deviation_evaluator" output="screen">
<remap from="in_twist_with_covariance" to="$(var in_twist_with_covariance)"/>
Expand Down Expand Up @@ -52,9 +51,10 @@

<!-- Map -->
<group>
<include file="$(find-pkg-share map_launch)/launch/map.launch.py" if="$(var rviz)">
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
<include file="$(find-pkg-share map_loader)/launch/lanelet2_map_loader.launch.xml" if="$(var rviz)">
<arg name="lanelet2_map_path" value="$(var lanelet2_map_file)"/>
<arg name="lanelet2_map_topic" value="/map/vector_map"/>
<arg name="lanelet2_map_marker_topic" value="/map/vector_map_marker"/>
</include>
</group>

Expand Down