02. ROS: Launch Parameters

List of possible launch parameters

The following parameters can be added in the launch file in order to activate/deactivate certain features on startup.

• odom_topic (string, default: "odom")

  Topic on which the simulated self localization data is published.

• imu_topic (string, default: "/uc_bridge/imu")

  Topic on which the simulated imu sensor data is published.

• motor_command_topic (string, default: "/uc_bridge/set_motor_level_msg")

  Motor level command topic to which the simulation should subscribe.

• steering_command_topic (string, default: "/uc_bridge/set_steering_level_msg")

  Steering level command topic to which the simulation should subscribe.

• steering_command_topic (string, default: "/uc_bridge/set_steering_level_msg")

  Steering level command topic to which the simulation should subscribe.

• motion_command_topic (string, default: "cmd_vel")

  Motion command topic to which the simulation should subscribe. This is the most common method through which a robot is controlled by local/global planning algorithms.

• odom_frame_id (string, default: "odom")

  This is the ID of the odom reference frame (coordinate system).

• odom_child_frame_id (string, default: "base_footprint")

  This is the ID of the robots root reference frame (coordinate system).

• wheel_base (double, default: 0.25)

  Wheelbase of your simulated robot.

• initial_x_coordinate (double, default: 0.0)

  Initial x-coordinate of the position of your simulated robot. The value has to be in meters and in relation to the coordinate system of the map frame.

• initial_y_coordinate (double, default: 0.0)

  Initial y-coordinate of the position of your simulated robot. The value has to be in meters and in relation to the coordinate system of the map frame.

• initial_yaw (double, default: 0.0)

  Initial yaw (orientation) of your simulated robot. The value has to be in radians and in relation to the coordinate system of the map frame.

• loop_rate_control (double, default: 100)

  Frequency of the main simulation loop in Hz.

How to add launch parameters to the main simulation node:

Change the following line in the simulation.launch file:

   <node pkg="pses_simulation" type="odom_sim" name="odom_sim" output="screen"/>

into the code segment below (you can add as many parameters as you like):

   <node pkg="pses_simulation" type="odom_sim" name="odom_sim" output="screen">
   <param name="your_parameter_name" value=some_value />
   <!-- Note: Strings are assigned with quotes (e.g. "your string") -->
   </node>