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Initial import of FaRui Campus ADS v3.2

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li-shihao-code
2026-06-05 14:20:30 +08:00
commit 2839d34fdb
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master/src/Localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml
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<launch>
<arg name="param_file" default="$(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml"/>
<arg name="input_initial_pose_name" default="initialpose3d"/>
<arg name="input_trigger_node_service_name" default="trigger_node" description="trigger node service"/>
<!-- input topic name -->
<arg name="input_pose_with_cov_name" default="in_pose_with_covariance"/>
<arg name="input_twist_with_cov_name" default="in_twist_with_covariance"/>
<!-- output topic name -->
<arg name="output_odom_name" default="ekf_odom"/>
<arg name="output_pose_name" default="ekf_pose"/>
<arg name="output_pose_with_covariance_name" default="ekf_pose_with_covariance"/>
<arg name="output_biased_pose_name" default="ekf_biased_pose"/>
<arg name="output_biased_pose_with_covariance_name" default="ekf_biased_pose_with_covariance"/>
<arg name="output_twist_name" default="ekf_twist"/>
<arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>
<node pkg="autoware_ekf_localizer" exec="autoware_ekf_localizer_node" output="both">
<remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>
<remap from="in_twist_with_covariance" to="$(var input_twist_with_cov_name)"/>
<remap from="initialpose" to="$(var input_initial_pose_name)"/>
<remap from="trigger_node_srv" to="$(var input_trigger_node_service_name)"/>
<remap from="ekf_odom" to="$(var output_odom_name)"/>
<remap from="ekf_pose" to="$(var output_pose_name)"/>
<remap from="ekf_pose_with_covariance" to="$(var output_pose_with_covariance_name)"/>
<remap from="ekf_biased_pose" to="$(var output_biased_pose_name)"/>
<remap from="ekf_biased_pose_with_covariance" to="$(var output_biased_pose_with_covariance_name)"/>
<remap from="ekf_twist" to="$(var output_twist_name)"/>
<remap from="ekf_twist_with_covariance" to="$(var output_twist_with_covariance_name)"/>
<param from="$(var param_file)"/>
</node>
</launch>