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Add relay for the clock and odometry messages
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Original file line number | Diff line number | Diff line change |
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@@ -30,6 +30,16 @@ | |
<include file="$(find-pkg-share lgsvl_interface)/launch/lgsvl.launch.py"> | ||
<arg name="lgsvl_interface_param" value="$(find-pkg-share lgsvl_interface)/param/lgsvl.$(var vehicle_model).param.yaml" /> | ||
</include> | ||
<node pkg="topic_tools" exec="relay" name="relay_lgsvl_clock" output="log" if="$(var use_sim_time)"> | ||
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maxime-clem
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<param name="input_topic" value="/lgsvl/clock" /> | ||
<param name="output_topic" value="/clock" /> | ||
<param name="type" value="rosgraph_msgs/msg/Clock" /> | ||
</node> | ||
<node pkg="topic_tools" exec="relay" name="relay_lgsvl_odometry" output="log"> | ||
<param name="input_topic" value="/lgsvl/gnss_odom" /> | ||
<param name="output_topic" value="/localization/kinematic_state" /> | ||
<param name="type" value="nav_msgs/msg/Odometry" /> | ||
</node> | ||
<!-- ground truth localization from LGSVL simulation --> | ||
<node pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 base_link nav_base" /> | ||
<node pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 odom base_link" /> | ||
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@maxime-clem Note: Topic name is also changable in simulator side.