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adjust covariance - note, it still doesn't work
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,66 +1,66 @@ | ||
| # Copyright 2018 Open Source Robotics Foundation, Inc. | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| # # Copyright 2018 Open Source Robotics Foundation, Inc. | ||
| # # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # # you may not use this file except in compliance with the License. | ||
| # # You may obtain a copy of the License at | ||
| # # | ||
| # # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # # | ||
| # # Unless required by applicable law or agreed to in writing, software | ||
| # # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # # See the License for the specific language governing permissions and | ||
| # # limitations under the License. | ||
|
|
||
| from launch import LaunchDescription | ||
| from ament_index_python.packages import get_package_share_directory | ||
| import launch_ros.actions | ||
| import os | ||
| import launch.actions | ||
| # from launch import LaunchDescription | ||
| # from ament_index_python.packages import get_package_share_directory | ||
| # import launch_ros.actions | ||
| # import os | ||
| # import launch.actions | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| gps_wpf_dir = get_package_share_directory("urc_localization") | ||
| rl_params_file = os.path.join(gps_wpf_dir, "config", "dual_ekf_navsat_params.yaml") | ||
| # def generate_launch_description(): | ||
| # gps_wpf_dir = get_package_share_directory("urc_localization") | ||
| # rl_params_file = os.path.join(gps_wpf_dir, "config", "dual_ekf_navsat_params.yaml") | ||
|
|
||
| return LaunchDescription( | ||
| [ | ||
| launch.actions.DeclareLaunchArgument( | ||
| "output_final_position", default_value="false" | ||
| ), | ||
| launch.actions.DeclareLaunchArgument( | ||
| "output_location", default_value="~/dual_ekf_navsat_example_debug.txt" | ||
| ), | ||
| # launch_ros.actions.Node( | ||
| # package="robot_localization", | ||
| # executable="ekf_node", | ||
| # name="ekf_filter_node_odom", | ||
| # output="screen", | ||
| # parameters=[rl_params_file, {"use_sim_time": True}], | ||
| # remappings=[("odometry/filtered", "odometry/local")], | ||
| # ), | ||
| # launch_ros.actions.Node( | ||
| # package="robot_localization", | ||
| # executable="ekf_node", | ||
| # name="ekf_filter_node_map", | ||
| # output="screen", | ||
| # parameters=[rl_params_file, {"use_sim_time": True}], | ||
| # remappings=[("odometry/filtered", "odometry/global")], | ||
| # ), | ||
| launch_ros.actions.Node( | ||
| package="robot_localization", | ||
| executable="navsat_transform_node", | ||
| name="navsat_transform", | ||
| output="screen", | ||
| parameters=[rl_params_file, {"use_sim_time": True}], | ||
| remappings=[ | ||
| # Subscribes to | ||
| ("imu", "imu/data"), | ||
| ("gps/fix", "gps/data"), | ||
| ("odometry/filtered", "rover_drivetrain_controller/odom"), | ||
| # Publishes to | ||
| ("gps/filtered", "gps/filtered"), | ||
| ("odometry/gps", "odometry/gps"), | ||
| ], | ||
| ), | ||
| ] | ||
| ) | ||
| # return LaunchDescription( | ||
| # [ | ||
| # launch.actions.DeclareLaunchArgument( | ||
| # "output_final_position", default_value="false" | ||
| # ), | ||
| # launch.actions.DeclareLaunchArgument( | ||
| # "output_location", default_value="~/dual_ekf_navsat_example_debug.txt" | ||
| # ), | ||
| # # launch_ros.actions.Node( | ||
| # # package="robot_localization", | ||
| # # executable="ekf_node", | ||
| # # name="ekf_filter_node_odom", | ||
| # # output="screen", | ||
| # # parameters=[rl_params_file, {"use_sim_time": True}], | ||
| # # remappings=[("odometry/filtered", "odometry/local")], | ||
| # # ), | ||
| # # launch_ros.actions.Node( | ||
| # # package="robot_localization", | ||
| # # executable="ekf_node", | ||
| # # name="ekf_filter_node_map", | ||
| # # output="screen", | ||
| # # parameters=[rl_params_file, {"use_sim_time": True}], | ||
| # # remappings=[("odometry/filtered", "odometry/global")], | ||
| # # ), | ||
| # launch_ros.actions.Node( | ||
| # package="robot_localization", | ||
| # executable="navsat_transform_node", | ||
| # name="navsat_transform", | ||
| # output="screen", | ||
| # parameters=[rl_params_file, {"use_sim_time": True}], | ||
| # remappings=[ | ||
| # # Subscribes to | ||
| # ("imu", "imu/data"), | ||
| # ("gps/fix", "gps/data"), | ||
| # ("odometry/filtered", "rover_drivetrain_controller/odom"), | ||
| # # Publishes to | ||
| # ("gps/filtered", "gps/filtered"), | ||
| # ("odometry/gps", "odometry/gps"), | ||
| # ], | ||
| # ), | ||
| # ] | ||
| # ) |