69 lines
3.3 KiB
XML
69 lines
3.3 KiB
XML
<launch>
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<arg name="outputNavSatFixTopic_" default="/bg620/gpsFix"/>
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<arg name="outputNavSatFixFrameId" default="gps"/>
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<arg name="outputOdometryTopic_" default="/bg620/gpsOdom"/>
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<arg name="outputOdometryFrameId" default="gps"/>
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<arg name="outputLidarOdometryTopic_" default="/bg620/lidarOdom"/>
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<arg name="outputLidarOdometryFrameId" default="c32_L"/>
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<arg name="outputTransFromStampedTopic_" default="/bg620/gpsTransFromStamped"/>
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<arg name="outputTransFromStampedFrameId" default="gps"/>
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<arg name="outputImuTopic_" default="/bg620/gpsImu"/>
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<arg name="outputImuFrameId" default="gps"/>
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<arg name="outputGpsPathTopic_" default="/bg620/gpsPath"/>
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<arg name="robotOdomFrameId" default="base_link"/>
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<arg name="inputNmeaSentenceTopic_" default="/bg620/nmeaSentence"/>
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<arg name="publishDynamicTf" default="false"/>
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<!-- origin of dd_yuanqu -->
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<!-- <arg name="orinLon" default="116.178987"/>
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<arg name="orinLat" default="39.903197"/>
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<arg name="orinAlt" default="75.0848"/> -->
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<!-- origin of haidian_park -->
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<arg name="orinLon" default="116.2899854448"/>
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<arg name="orinLat" default="39.98534"/>
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<arg name="orinAlt" default="48.389"/>
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<!-- origin of caihonghu_park -->
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<!-- <arg name="orinLon" default="117.2874076873333"/>
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<arg name="orinLat" default="36.67463832666667"/>
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<arg name="orinAlt" default="115.1813"/> -->
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<arg name="e_bias" default="0.0"/>
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<arg name="n_bias" default="0.0"/>
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<node name="bg620_sentence_parse_node" pkg="beitian-bg620" type="bg620_sentence_parse_node" output="screen">
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<param name="outputNavSatFixTopic_" value="$(arg outputNavSatFixTopic_)" type="string"/>
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<param name="outputNavSatFixFrameId" value="$(arg outputNavSatFixFrameId)" type="string"/>
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<param name="outputOdometryTopic_" value="$(arg outputOdometryTopic_)" type="string"/>
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<param name="outputOdometryFrameId" value="$(arg outputOdometryFrameId)" type="string"/>
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<param name="outputLidarOdometryTopic_" value="$(arg outputLidarOdometryTopic_)" type="string"/>
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<param name="outputLidarOdometryFrameId" value="$(arg outputLidarOdometryFrameId)" type="string"/>
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<param name="outputTransFromStampedTopic_" value="$(arg outputTransFromStampedTopic_)" type="string"/>
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<param name="outputTransFromStampedFrameId" value="$(arg outputTransFromStampedFrameId)" type="string"/>
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<param name="outputImuTopic_" value="$(arg outputImuTopic_)" type="string"/>
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<param name="outputImuFrameId" value="$(arg outputImuFrameId)" type="string"/>
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<param name="outputGpsPathTopic_" value="$(arg outputGpsPathTopic_)" type="string"/>
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<param name="robotOdomFrameId" value="$(arg robotOdomFrameId)" type="string"/>
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<param name="inputNmeaSentenceTopic_" value="$(arg inputNmeaSentenceTopic_)" type="string"/>
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<param name="publishDynamicTf" value="$(arg publishDynamicTf)" type="bool"/>
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<param name="orinLon" value="$(arg orinLon)" type="double"/>
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<param name="orinLat" value="$(arg orinLat)" type="double"/>
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<param name="orinAlt" value="$(arg orinAlt)" type="double"/>
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<param name="e_bias" value="$(arg e_bias)" type="double"/>
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<param name="n_bias" value="$(arg n_bias)" type="double"/>
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</node>
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</launch> |