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feat(pose_twist_estimator): automatically initialize pose only with gnss #5115

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Sep 28, 2023
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feat(pose_twist_estimator): automatically initialize pose only with gnss #5115

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20 changes: 15 additions & 5 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,9 @@
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
</group>
</group>
Expand All @@ -42,7 +44,9 @@
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>

Expand Down Expand Up @@ -74,7 +78,9 @@
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
</include>
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>

Expand All @@ -99,7 +105,9 @@
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
</include>
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>

Expand Down Expand Up @@ -131,7 +139,9 @@
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
</group>
</group>
Expand Down