#41 Bugfixing in visual odometry

lardemua · Jul 27, 2022 · 13d3a29 · 13d3a29
1 parent bf2a1ce
commit 13d3a29
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Showing 13 changed files with 779 additions and 3,410 deletions.
diff --git a/atlascar2_bringup/launch/bringup.launch b/atlascar2_bringup/launch/bringup.launch
@@ -31,8 +31,7 @@
     </node>
 
     <group if="$(arg odom_bringup)">
-        <node pkg="atlascar2_odom" type="can_ros_msgs_to_ackermann.py" name="can_ros_msgs_to_ackermann" output="screen"/>
-        <node pkg="atlascar2_odom" type="ackermann_to_odom.py" name="ackermann_to_odom" output="screen"/>
+        <include file="$(find atlascar2_odom)/launch/odom_bringup.launch"/>
     </group>
 
     <group if="$(arg visualize)">

diff --git a/atlascar2_bringup/launch/model.launch b/atlascar2_bringup/launch/model.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
     <arg name="robot_description" default="robot_description"/>
-    <param name="$(arg robot_description)" command="$(find xacro)/xacro '$(find atlascar2_description)/urdf/atlascar2.urdf.xacro'" />
+    <param name="$(arg robot_description)" command="$(find xacro)/xacro '$(find atlascar2_description)/urdf/atlascar2_ackermann_VLP.urdf.xacro'" />
     <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher"></node>
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 </launch>