autonomous_bicycle

<launch>
    <!-- Define path for 3D models (obj, dae)  -->
    <env name="GAZEBO_MODEL_PATH" value="$(find autonomous_bicycle)/models"/>
    <env name="MESH_WORKSPACE_PATH" value="$(find autonomous_bicycle)"/>

    <!-- use_sim_time: Take clock from gazebo -->
    <param name="use_sim_time" value="true" />

    <!-- Play ROSBAG file -->
    <arg name="local_path" default="bags/experiments/" />
    <arg name="bag_path" default="$(find autonomous_bicycle)/$(arg local_path)" />
    <arg name="bag_file" default="velocity_8" />

    <node pkg="rosbag" type="play" name="player" output="screen"
          args="--clock --loop $(arg bag_path)$(arg bag_file).bag"/>

    <!-- Launch RQT and RVIZ -->
    <node name="custom_rqt_perspective" pkg="rqt_gui" type="rqt_gui" required="false" output="log"
          args="--perspective-file  $(find autonomous_bicycle)/config/rqt_pose_estimation.perspective" />

    <node name="rviz" pkg="rviz" type="rviz" required="false"
          args="-d $(find autonomous_bicycle)/config/rviz_pose_estimation.rviz"     />

    <!-- Visualize model into RVIZ -->
    <arg name="frequency" default="5" />
    <node name="static_tf_pub_world_to_gazebo_world" pkg="tf" type="static_transform_publisher" args="0 0 0  0 0 0 1 world gazebo_world 100" />

    <node name="gazebo2rviz" pkg="autonomous_bicycle" type="gazebo2rviz.py"  output="screen" respawn="true">
        <param name="ignore_submodels_of" value="" type="str" />
        <param name="rate" value="20" />
    </node>

    <!-- Pose estimator -->
    <node pkg="autonomous_bicycle" type="pose_estimator.py" name="pose_estimator" respawn="false" output="screen">
        <param name="rate" value="100"/>
    </node>
</launch>