autonomous_bicycle

<launch>
    <env name="GAZEBO_MODEL_PATH" value="$(find autonomous_bicycle)/models"/>
    <env name="MESH_WORKSPACE_PATH" value="$(find autonomous_bicycle)"/>

    <param name="use_sim_time" value="true" />

    <!-- Launch Gazebo simulator -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" >
        <arg name="world_name" value="$(find autonomous_bicycle)/worlds/standard_bicycle.world"/>
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="false"/>
        <arg name="gui" value="false"/>
        <arg name="headless" value="false"/>
        <arg name="debug" value="false"/>
        <arg name="physics" default="ode"/>
        <arg name="respawn_gazebo" default="false"/>
        <arg name="verbose" default="false"/>
    </include>

    <!-- interaction with simulated bicycle -->
    <node pkg="autonomous_bicycle" type="bicycle_interaction.py" name="bicycle_interaction" required="false" >
        <param name="rate" type="int" value="100" />
        <param name="wheel_radius" type="double" value="0.335" />
        <param name="angle_limit" type="double" value="70" />
        <param name="imu_angle" type="string" value="/bicycle/imu_1" />
    </node>

    <!-- convert IMU to angles for visualization -->
    <node pkg="autonomous_bicycle" type="reference_imu_to_angle.py" name="reference_imu_to_angle" required="false" >
        <param name="rate" type="int" value="100" />
        <param name="imu_name" type="string" value="imu_steering" />
        <param name="topic_name_angle" type="string" value="/bicycle/imu_steering" />
        <param name="topic_name_reference" type="string" value="/bicycle/imu_1" />
    </node>

    <node pkg="autonomous_bicycle" type="reference_imu_to_angle.py" name="reference_imu_to_angle_noise" required="false" >
        <param name="rate" type="int" value="100" />
        <param name="imu_name" type="string" value="imu_steering_noise" />
        <param name="topic_name_angle" type="string" value="/bicycle/imu_steering_noise" />
        <param name="topic_name_reference" type="string" value="/bicycle/imu_1" />
    </node>

    <node pkg="autonomous_bicycle" type="imu_to_angles.py" name="imu_to_angles_lean" required="false" >
        <param name="rate" type="int" value="100" />
        <param name="imu_name" type="string" value="imu_lean" />
        <param name="topic_name" type="string" value="/bicycle/imu_1" />
    </node>

    <node pkg="autonomous_bicycle" type="imu_to_angles.py" name="imu_to_angles_lean_noise" required="false" >
        <param name="rate" type="int" value="100" />
        <param name="imu_name" type="string" value="imu_lean_noise" />
        <param name="topic_name" type="string" value="/bicycle/imu_1_noise" />
    </node>

    <!-- 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 200" />

    <node name="gazebo2rviz" pkg="autonomous_bicycle" type="gazebo2rviz.py"  output="screen">
        <param name="ignore_submodels_of" value="" type="str" />
        <param name="rate" value="300" />
    </node>

    <!-- Launch the conversion from sensor_msgs/NavSatFix to nav_msgs/Odometry -->
    <node name="gps_conv_front" pkg="gps_common" type="utm_odometry_node">
        <remap from="/fix" to="/bicycle/gps_front" />
        <remap from="odom" to="/bicycle/odom_utm_global_gps_front"/>
        <param name="rot_covariance" value="99999" />
        <param name="frame_id" value="world" />
        <param name="child_frame_id" value="odom_global_gps_front" />
    </node>

    <node name="OdometryUtmToLocal_gps_front" pkg="autonomous_bicycle" type="OdometryUtmToLocal">
        <param name="input_topic_UTM" value="/bicycle/odom_utm_global_gps_front" />
        <param name="output_topic_odom" value="/bicycle/odom_gps_front" />
        <param name="frame_id" value="world" />
        <param name="child_frame_id" value="odom_gps_front" />
        <param name="offset_x" value="0.0" />
        <param name="offset_y" value="1.0" />
        <param name="offset_z" value="0.0" />
        <param name="orientation" value="1.571" />
    </node>

    <node name="gps_conv_rear" pkg="gps_common" type="utm_odometry_node">
        <remap from="/fix" to="/bicycle/gps_rear" />
        <remap from="odom" to="/bicycle/odom_utm_global_gps_rear"/>
        <param name="rot_covariance" value="99999" />
        <param name="frame_id" value="world" />
        <param name="child_frame_id" value="odom_global_gps_rear" />
    </node>

    <node name="OdometryUtmToLocal_gps_rear" pkg="autonomous_bicycle" type="OdometryUtmToLocal">
        <param name="input_topic_UTM" value="/bicycle/odom_utm_global_gps_rear" />
        <param name="output_topic_odom" value="/bicycle/odom_gps_rear" />
        <param name="frame_id" value="world" />
        <param name="child_frame_id" value="odom_gps_rear" />
        <param name="offset_x" value="0.0" />
        <param name="offset_y" value="0.0" />
        <param name="offset_z" value="0.0" />
        <param name="orientation" value="1.571" />
    </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>