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init bias for all robots being launched #747

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merged 3 commits into from
Nov 10, 2023
Merged

init bias for all robots being launched #747

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3cd1646
init bias for all robots being launched
marinagmoreira Aug 8, 2023
a48768d
Merge branch 'develop' of https://github.com/marinagmoreira/astrobee …
marinagmoreira Nov 9, 2023
8c8067b
adding namespace for default robot
marinagmoreira Nov 9, 2023
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14 changes: 12 additions & 2 deletions astrobee/launch/sim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,9 @@
<arg name="dds" value="$(arg dds)" /> <!-- Enable DDS -->
<arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_default" args="call --wait $(arg ns)/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert honey at a canned location -->
Expand All @@ -188,6 +191,9 @@
<arg name="dds" value="$(arg dds)" /> <!-- Enable DDS -->
<arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_honey" args="call --wait /honey/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert bumble at a canned location -->
Expand All @@ -211,6 +217,9 @@
<arg name="dds" value="$(arg dds)" /> <!-- Enable DDS -->
<arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_bumble" args="call --wait /bumble/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert queen at a canned location -->
Expand All @@ -234,9 +243,10 @@
<arg name="dds" value="$(arg dds)" /> <!-- Enable DDS -->
<arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_queen" args="call --wait /queen/gnc/ekf/init_bias" />
</group>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration" args="call --wait /gnc/ekf/init_bias" />

</launch>