diff --git a/launch/vehicle_launch/CMakeLists.txt b/launch/vehicle_launch/CMakeLists.txt new file mode 100644 index 0000000000000..f7f9c23733c5e --- /dev/null +++ b/launch/vehicle_launch/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.5) +project(vehicle_launch) + +add_compile_options(-std=c++14) + +find_package(ament_cmake_auto REQUIRED) + +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + urdf +) diff --git a/launch/vehicle_launch/README.md b/launch/vehicle_launch/README.md new file mode 100644 index 0000000000000..9743f42ace364 --- /dev/null +++ b/launch/vehicle_launch/README.md @@ -0,0 +1,63 @@ +# vehicle_launch + +## Structure + +![vehicle_launch](./vehicle_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +You can include as follows in `*.launch.xml` to use `vehicle.launch.xml`. + +```xml + + + + + + + +``` + +## Notes + +This package finds some external packages and settings with variables and package names. + +ex.) + +```xml + +``` + + + +```xml + +``` + +## vehicle.xacro + +### Arguments + +| Name | Type | Description | Default | +| ------------- | ------ | ------------------ | ------- | +| sensor_model | String | sensor model name | "" | +| vehicle_model | String | vehicle model name | "" | + +### Usage + +You can write as follows in `*.launch.xml`. + +```xml + + + + + + + + +``` diff --git a/launch/vehicle_launch/launch/vehicle.launch.xml b/launch/vehicle_launch/launch/vehicle.launch.xml new file mode 100644 index 0000000000000..3ab8513d0ba7f --- /dev/null +++ b/launch/vehicle_launch/launch/vehicle.launch.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/vehicle_launch/launch/vehicle_description.launch.xml b/launch/vehicle_launch/launch/vehicle_description.launch.xml new file mode 100644 index 0000000000000..3feda41d8cb50 --- /dev/null +++ b/launch/vehicle_launch/launch/vehicle_description.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/vehicle_launch/package.xml b/launch/vehicle_launch/package.xml new file mode 100644 index 0000000000000..c3dc6abe937a1 --- /dev/null +++ b/launch/vehicle_launch/package.xml @@ -0,0 +1,22 @@ + + + vehicle_launch + 0.1.0 + The vehicle_launch package + + Yukihiro Saito + Apache License 2.0 + + + ament_cmake_auto + + robot_state_publisher + xacro + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/launch/vehicle_launch/urdf/vehicle.xacro b/launch/vehicle_launch/urdf/vehicle.xacro new file mode 100644 index 0000000000000..30db9c6a7cba4 --- /dev/null +++ b/launch/vehicle_launch/urdf/vehicle.xacro @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/launch/vehicle_launch/vehicle_launch.drawio.svg b/launch/vehicle_launch/vehicle_launch.drawio.svg new file mode 100644 index 0000000000000..13acf18829d14 --- /dev/null +++ b/launch/vehicle_launch/vehicle_launch.drawio.svg @@ -0,0 +1,4 @@ + + + +
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
vehicle_interface.launch.xml

package: $(var vehicle_model)_description
vehicle_interface.launch.xml...
False
False
$(var simulation)
$(var simulation)
vehicle.xacro

package: vehicle_launch
  
vehicle.xacro...
vehicle.xacro

package: $(var vehicle_model)_description
vehicle.xacro...
sensors.xacro

package: $(var sensor_model)_description
sensors.xacro...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
robot state_publisher

package: robot_state_publisher
robot state_publisher...
other name

package: package name
other name...Viewer does not support full SVG 1.1 \ No newline at end of file