66 lines
3.2 KiB
XML
66 lines
3.2 KiB
XML
<launch>
|
|
<arg name="outputNavSatFixTopic_" default="/m2/gpsFix"/>
|
|
<arg name="outputNavSatFixFrameId" default="gps"/>
|
|
|
|
<arg name="outputOdometryTopic_" default="/m2/gpsOdom"/>
|
|
<arg name="gphdpOdometryTopic_" default="/m2/gphpdOdom"/>
|
|
<arg name="outputOdometryFrameId" default="gps"/>
|
|
|
|
<arg name="outputLidarOdometryTopic_" default="/m2/lidarOdom"/>
|
|
<arg name="outputLidarOdometryFrameId" default="c32_L"/>
|
|
|
|
<arg name="outputTransFromStampedTopic_" default="/m2/gpsTransFromStamped"/>
|
|
<arg name="outputTransFromStampedFrameId" default="gps"/>
|
|
|
|
<arg name="outputImuTopic_" default="/m2/gpsImu"/>
|
|
<arg name="outputImuFrameId" default="gps"/>
|
|
|
|
<arg name="outputGpsPathTopic_" default="/m2/gpsPath"/>
|
|
<arg name="robotOdomFrameId" default="base_link"/>
|
|
|
|
<arg name="inputNmeaSentenceTopic_" default="/m2/nmeaSentence"/>
|
|
<arg name="publishDynamicTf" default="false"/>
|
|
|
|
<!-- origin of dd_yuanqu -->
|
|
<!-- <arg name="orinLon" default="116.178987"/>
|
|
<arg name="orinLat" default="39.903197"/>
|
|
<arg name="orinAlt" default="75.0848"/> -->
|
|
|
|
<!-- origin of haidian_park -->
|
|
<arg name="orinLon" default="116.2899854448"/>
|
|
<arg name="orinLat" default="39.98534"/>
|
|
<arg name="orinAlt" default="48.389"/>
|
|
|
|
<arg name="e_bias" default="0.0"/>
|
|
<arg name="n_bias" default="0.0"/>
|
|
|
|
<node name="m2_sentence_parse_node" pkg="newton-m2" type="m2_sentence_parse_node" output="screen">
|
|
<param name="outputNavSatFixTopic_" value="$(arg outputNavSatFixTopic_)" type="string"/>
|
|
<param name="outputNavSatFixFrameId" value="$(arg outputNavSatFixFrameId)" type="string"/>
|
|
|
|
<param name="outputOdometryTopic_" value="$(arg outputOdometryTopic_)" type="string"/>
|
|
<param name="gphdpOdometryTopic_" value="$(arg gphdpOdometryTopic_)" type="string"/>
|
|
<param name="outputOdometryFrameId" value="$(arg outputOdometryFrameId)" type="string"/>
|
|
|
|
<param name="outputLidarOdometryTopic_" value="$(arg outputLidarOdometryTopic_)" type="string"/>
|
|
<param name="outputLidarOdometryFrameId" value="$(arg outputLidarOdometryFrameId)" type="string"/>
|
|
|
|
<param name="outputTransFromStampedTopic_" value="$(arg outputTransFromStampedTopic_)" type="string"/>
|
|
<param name="outputTransFromStampedFrameId" value="$(arg outputTransFromStampedFrameId)" type="string"/>
|
|
|
|
<param name="outputImuTopic_" value="$(arg outputImuTopic_)" type="string"/>
|
|
<param name="outputImuFrameId" value="$(arg outputImuFrameId)" type="string"/>
|
|
|
|
<param name="outputGpsPathTopic_" value="$(arg outputGpsPathTopic_)" type="string"/>
|
|
<param name="robotOdomFrameId" value="$(arg robotOdomFrameId)" type="string"/>
|
|
|
|
<param name="inputNmeaSentenceTopic_" value="$(arg inputNmeaSentenceTopic_)" type="string"/>
|
|
<param name="publishDynamicTf" value="$(arg publishDynamicTf)" type="bool"/>
|
|
|
|
<param name="orinLon" value="$(arg orinLon)" type="double"/>
|
|
<param name="orinLat" value="$(arg orinLat)" type="double"/>
|
|
<param name="orinAlt" value="$(arg orinAlt)" type="double"/>
|
|
<param name="e_bias" value="$(arg e_bias)" type="double"/>
|
|
<param name="n_bias" value="$(arg n_bias)" type="double"/>
|
|
</node>
|
|
</launch> |