From fb4704409fa4c356187e9fa765d4550110f1a1e9 Mon Sep 17 00:00:00 2001 From: kushal-a Date: Thu, 26 Mar 2026 11:50:17 -0400 Subject: [PATCH 1/5] making static publish configurable --- .../local_planner/launch/local_planner.launch.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/base_autonomy/local_planner/launch/local_planner.launch.py b/src/base_autonomy/local_planner/launch/local_planner.launch.py index 4d52e70c..455a4096 100644 --- a/src/base_autonomy/local_planner/launch/local_planner.launch.py +++ b/src/base_autonomy/local_planner/launch/local_planner.launch.py @@ -2,6 +2,7 @@ import yaml from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -52,6 +53,12 @@ def generate_launch_description(): default_value='0.0' ) + disableStaticTfPub_arg = DeclareLaunchArgument( + 'disableStaticTfPub', + default_value='false', + description='If true, do not publish vehicleTrans and sensorTrans static TFs' + ) + # Read sensor offsets from robot config YAML sensor_offsets = { 'sensorOffsetX': 0.0, @@ -212,7 +219,8 @@ def generate_launch_description(): '0', '0', '0', 'sensor', 'base_link' - ] + ], + condition=UnlessCondition(LaunchConfiguration('disableStaticTfPub')) ) sensorTransPublisher_node = Node( @@ -227,7 +235,8 @@ def generate_launch_description(): str(camera_offsets['cameraOffsetPitch']), str(camera_offsets['cameraOffsetYaw']), 'sensor', camera_link - ] + ], + condition=UnlessCondition(LaunchConfiguration('disableStaticTfPub')) ) return LaunchDescription([ From a20010b76fcafd73bb3a6e2640243ae2a590c02e Mon Sep 17 00:00:00 2001 From: Vector Date: Thu, 26 Mar 2026 12:17:18 -0400 Subject: [PATCH 2/5] fixed livox ip --- .../livox_ros_driver2/config/MID360_config.json | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/utilities/livox_ros_driver2/config/MID360_config.json b/src/utilities/livox_ros_driver2/config/MID360_config.json index f845b369..b7eaa9d5 100644 --- a/src/utilities/livox_ros_driver2/config/MID360_config.json +++ b/src/utilities/livox_ros_driver2/config/MID360_config.json @@ -11,13 +11,13 @@ "log_data_port": 56500 }, "host_net_info" : { - "cmd_data_ip" : "192.168.1.5", + "cmd_data_ip" : "192.168.123.5", "cmd_data_port": 56101, - "push_msg_ip": "192.168.1.5", + "push_msg_ip": "192.168.123.5", "push_msg_port": 56201, - "point_data_ip": "192.168.1.5", + "point_data_ip": "192.168.123.5", "point_data_port": 56301, - "imu_data_ip" : "192.168.1.5", + "imu_data_ip" : "192.168.123.5", "imu_data_port": 56401, "log_data_ip" : "", "log_data_port": 56501 @@ -25,7 +25,7 @@ }, "lidar_configs" : [ { - "ip" : "192.168.1.131", + "ip" : "192.168.123.120", "pcl_data_type" : 1, "pattern_mode" : 0, "extrinsic_parameter" : { From cebb854c5f7e7458b66581ac16ba05f65cb03341 Mon Sep 17 00:00:00 2001 From: Vector Date: Thu, 26 Mar 2026 13:14:43 -0400 Subject: [PATCH 3/5] configurable parameter in all parent launch files of local_planner.launch.py for configurability --- .../local_planner/launch/local_planner.launch.py | 1 + .../vehicle_simulator/launch/system_real_robot.launch.py | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/src/base_autonomy/local_planner/launch/local_planner.launch.py b/src/base_autonomy/local_planner/launch/local_planner.launch.py index 455a4096..315280e2 100644 --- a/src/base_autonomy/local_planner/launch/local_planner.launch.py +++ b/src/base_autonomy/local_planner/launch/local_planner.launch.py @@ -247,6 +247,7 @@ def generate_launch_description(): joyToSpeedDelay_arg, goalX_arg, goalY_arg, + disableStaticTfPub_arg, localPlanner_node, pathFollower_node, vehicleTransPublisher_node, diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py index 40739917..24654484 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py @@ -15,6 +15,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + disableStaticTfPub = LaunchConfiguration('disableStaticTfPub') declare_world_name = DeclareLaunchArgument('world_name', default_value='real_world', description='') declare_sensorOffsetX = DeclareLaunchArgument('sensorOffsetX', default_value='0.05', description='') @@ -23,6 +24,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_disableStaticTfPub = DeclareLaunchArgument('disableStaticTfPub', default_value='false', description='If true, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -35,6 +37,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'disableStaticTfPub': disableStaticTfPub, }.items() ) @@ -107,6 +110,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_disableStaticTfPub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) From 12f887c1f40284fa9d681efb8b057ceaf26f6339 Mon Sep 17 00:00:00 2001 From: kushal-a Date: Fri, 27 Mar 2026 15:03:17 -0400 Subject: [PATCH 4/5] renamed parameter and inverted bolean condition --- .../local_planner/launch/local_planner.launch.py | 16 ++++++++-------- .../launch/system_real_robot.launch.py | 8 ++++---- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/base_autonomy/local_planner/launch/local_planner.launch.py b/src/base_autonomy/local_planner/launch/local_planner.launch.py index 315280e2..baf1ac9a 100644 --- a/src/base_autonomy/local_planner/launch/local_planner.launch.py +++ b/src/base_autonomy/local_planner/launch/local_planner.launch.py @@ -2,7 +2,7 @@ import yaml from launch import LaunchDescription from launch.actions import DeclareLaunchArgument -from launch.conditions import UnlessCondition +from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -53,10 +53,10 @@ def generate_launch_description(): default_value='0.0' ) - disableStaticTfPub_arg = DeclareLaunchArgument( - 'disableStaticTfPub', - default_value='false', - description='If true, do not publish vehicleTrans and sensorTrans static TFs' + static_tf_pub_arg = DeclareLaunchArgument( + 'static_tf_pub', + default_value='true', + description='If false, do not publish vehicleTrans and sensorTrans static TFs' ) # Read sensor offsets from robot config YAML @@ -220,7 +220,7 @@ def generate_launch_description(): 'sensor', 'base_link' ], - condition=UnlessCondition(LaunchConfiguration('disableStaticTfPub')) + condition=IfCondition(LaunchConfiguration('static_tf_pub')) ) sensorTransPublisher_node = Node( @@ -236,7 +236,7 @@ def generate_launch_description(): str(camera_offsets['cameraOffsetYaw']), 'sensor', camera_link ], - condition=UnlessCondition(LaunchConfiguration('disableStaticTfPub')) + condition=IfCondition(LaunchConfiguration('static_tf_pub')) ) return LaunchDescription([ @@ -247,7 +247,7 @@ def generate_launch_description(): joyToSpeedDelay_arg, goalX_arg, goalY_arg, - disableStaticTfPub_arg, + static_tf_pub_arg, localPlanner_node, pathFollower_node, vehicleTransPublisher_node, diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py index 24654484..fc437d48 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py @@ -15,7 +15,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') - disableStaticTfPub = LaunchConfiguration('disableStaticTfPub') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_world_name = DeclareLaunchArgument('world_name', default_value='real_world', description='') declare_sensorOffsetX = DeclareLaunchArgument('sensorOffsetX', default_value='0.05', description='') @@ -24,7 +24,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') - declare_disableStaticTfPub = DeclareLaunchArgument('disableStaticTfPub', default_value='false', description='If true, do not publish vehicleTrans and sensorTrans static TFs') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -37,7 +37,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, - 'disableStaticTfPub': disableStaticTfPub, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -110,7 +110,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) - ld.add_action(declare_disableStaticTfPub) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) From 36f2c15e40ca48cefff2f8466335eff052926f28 Mon Sep 17 00:00:00 2001 From: alexlin2 Date: Fri, 27 Mar 2026 17:22:55 -0400 Subject: [PATCH 5/5] Add static_tf_pub parameter to all vehicle simulator launch files for configurable static TF publishing --- .../local_planner/launch/local_planner.launch.py | 2 +- .../vehicle_simulator/launch/system_bagfile.launch.py | 4 ++++ .../launch/system_bagfile_with_exploration_planner.launch.py | 4 ++++ .../launch/system_bagfile_with_route_planner.launch.py | 4 ++++ .../system_real_robot_with_exploration_planner.launch.py | 4 ++++ .../launch/system_real_robot_with_route_planner.launch.py | 4 ++++ .../vehicle_simulator/launch/system_simulation.launch.py | 4 ++++ .../system_simulation_with_exploration_planner.launch.py | 4 ++++ .../launch/system_simulation_with_route_planner.launch.py | 4 ++++ 9 files changed, 33 insertions(+), 1 deletion(-) diff --git a/src/base_autonomy/local_planner/launch/local_planner.launch.py b/src/base_autonomy/local_planner/launch/local_planner.launch.py index baf1ac9a..ae0989cc 100644 --- a/src/base_autonomy/local_planner/launch/local_planner.launch.py +++ b/src/base_autonomy/local_planner/launch/local_planner.launch.py @@ -13,7 +13,7 @@ def generate_launch_description(): local_planner_share = get_package_share_directory('local_planner') # Get robot config from environment variable or use default - robot_config_env = os.environ.get('ROBOT_CONFIG_PATH', 'unitree/unitree_g1') + robot_config_env = os.environ.get('ROBOT_CONFIG_PATH', 'mechanum_drive') # Declare launch arguments config_arg = DeclareLaunchArgument( diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py index 4c96c032..ccaf3baf 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py @@ -15,6 +15,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_world_name = DeclareLaunchArgument('world_name', default_value='real_world', description='') declare_sensorOffsetX = DeclareLaunchArgument('sensorOffsetX', default_value='0.05', description='') @@ -23,6 +24,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -35,6 +37,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -102,6 +105,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py index b558a940..ff57f2d1 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py @@ -16,6 +16,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_exploration_planner_config = DeclareLaunchArgument('exploration_planner_config', default_value='indoor_small', description='') declare_world_name = DeclareLaunchArgument('world_name', default_value='real_world', description='') @@ -25,6 +26,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -37,6 +39,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -113,6 +116,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py index a521e74e..06e32d29 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py @@ -19,6 +19,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_use_pct_planner = DeclareLaunchArgument( 'use_pct_planner', @@ -33,6 +34,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -45,6 +47,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -132,6 +135,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py index 94b863f3..f5ddedc6 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py @@ -16,6 +16,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_exploration_planner_config = DeclareLaunchArgument('exploration_planner_config', default_value='indoor_small', description='') declare_world_name = DeclareLaunchArgument('world_name', default_value='real_world', description='') @@ -25,6 +26,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -37,6 +39,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -118,6 +121,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py index c483113a..a283ddde 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py @@ -19,6 +19,7 @@ def generate_launch_description(): vehicleX = LaunchConfiguration('vehicleX') vehicleY = LaunchConfiguration('vehicleY') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_use_pct_planner = DeclareLaunchArgument( 'use_pct_planner', @@ -33,6 +34,7 @@ def generate_launch_description(): declare_vehicleX = DeclareLaunchArgument('vehicleX', default_value='0.0', description='') declare_vehicleY = DeclareLaunchArgument('vehicleY', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -45,6 +47,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -137,6 +140,7 @@ def generate_launch_description(): ld.add_action(declare_vehicleX) ld.add_action(declare_vehicleY) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py index 3b8f2245..93f57fc2 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py @@ -16,6 +16,7 @@ def generate_launch_description(): terrainZ = LaunchConfiguration('terrainZ') vehicleYaw = LaunchConfiguration('vehicleYaw') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_world_name = DeclareLaunchArgument('world_name', default_value='unity', description='') declare_vehicleHeight = DeclareLaunchArgument('vehicleHeight', default_value='0.75', description='') @@ -25,6 +26,7 @@ def generate_launch_description(): declare_terrainZ = DeclareLaunchArgument('terrainZ', default_value='0.0', description='') declare_vehicleYaw = DeclareLaunchArgument('vehicleYaw', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -35,6 +37,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -136,6 +139,7 @@ def generate_launch_description(): ld.add_action(declare_terrainZ) ld.add_action(declare_vehicleYaw) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py index 4800757a..af098c32 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py @@ -17,6 +17,7 @@ def generate_launch_description(): terrainZ = LaunchConfiguration('terrainZ') vehicleYaw = LaunchConfiguration('vehicleYaw') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_exploration_planner_config = DeclareLaunchArgument('exploration_planner_config', default_value='indoor_small', description='') declare_world_name = DeclareLaunchArgument('world_name', default_value='unity', description='') @@ -27,6 +28,7 @@ def generate_launch_description(): declare_terrainZ = DeclareLaunchArgument('terrainZ', default_value='0.0', description='') declare_vehicleYaw = DeclareLaunchArgument('vehicleYaw', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -37,6 +39,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -147,6 +150,7 @@ def generate_launch_description(): ld.add_action(declare_terrainZ) ld.add_action(declare_vehicleYaw) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis) diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py index 33a10792..1469a14c 100644 --- a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py +++ b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py @@ -20,6 +20,7 @@ def generate_launch_description(): terrainZ = LaunchConfiguration('terrainZ') vehicleYaw = LaunchConfiguration('vehicleYaw') checkTerrainConn = LaunchConfiguration('checkTerrainConn') + static_tf_pub = LaunchConfiguration('static_tf_pub') declare_use_pct_planner = DeclareLaunchArgument( 'use_pct_planner', @@ -35,6 +36,7 @@ def generate_launch_description(): declare_terrainZ = DeclareLaunchArgument('terrainZ', default_value='0.0', description='') declare_vehicleYaw = DeclareLaunchArgument('vehicleYaw', default_value='0.0', description='') declare_checkTerrainConn = DeclareLaunchArgument('checkTerrainConn', default_value='true', description='') + declare_static_tf_pub = DeclareLaunchArgument('static_tf_pub', default_value='true', description='If false, do not publish vehicleTrans and sensorTrans static TFs') start_local_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join( @@ -45,6 +47,7 @@ def generate_launch_description(): 'cameraOffsetZ': cameraOffsetZ, 'goalX': vehicleX, 'goalY': vehicleY, + 'static_tf_pub': static_tf_pub, }.items() ) @@ -160,6 +163,7 @@ def generate_launch_description(): ld.add_action(declare_terrainZ) ld.add_action(declare_vehicleYaw) ld.add_action(declare_checkTerrainConn) + ld.add_action(declare_static_tf_pub) ld.add_action(start_local_planner) ld.add_action(start_terrain_analysis)