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Fixes To Allow The README Instructions To Work As Advertised #83

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Fixes To Allow The README Instructions To Work As Advertised #83

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0c60243
Increased Controller Spawner Timeout In All Gazebo Launch Files
garethellis0 Oct 15, 2019
2809af4
Added StateEstimator To 'autoRallyTackGazeboSim.launch'
garethellis0 Oct 15, 2019
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2 changes: 1 addition & 1 deletion autorally_gazebo/launch/autoRallyJumpGazeboSim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ rosservice call autorally_platform/gazebo/delete_model '{model_name: autoRallyPl
<!-- Load the joint controllers. One of these publishes the joint states
to joint_states. -->
<node name="controller_spawner" pkg="controller_manager" type="spawner"
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml"/>
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml --timeout 120"/>

<!-- Control the steering, axle, and shock absorber joints. -->
<node name="autorally_controller" pkg="autorally_gazebo"
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2 changes: 1 addition & 1 deletion autorally_gazebo/launch/autoRallyTrackCCRFGazeboSim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ limitations under the License.

<!-- load controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner"
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml"/>
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml --timeout 120"/>

<!-- Control the steering, axle, and shock absorber joints. -->
<node name="autorally_controller" pkg="autorally_gazebo"
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11 changes: 10 additions & 1 deletion autorally_gazebo/launch/autoRallyTrackGazeboSim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ limitations under the License.

<!-- load controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner"
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml"/>
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml --timeout 120"/>

<!-- Control the steering, axle, and shock absorber joints. -->
<node name="autorally_controller" pkg="autorally_gazebo"
Expand All @@ -84,6 +84,15 @@ limitations under the License.
type="ground_truth_republisher.py" output="screen">
</node>


<!-- Run state estimator -->
<include file="$(find autorally_core)/launch/stateEstimator.launch">
<arg name="sim" value="true"/>
<arg name="InvertY" value="false"/>
<arg name="InvertZ" value="false"/>
<arg name="FixedInitialPose" value="true"/>
</include>

<include file="$(find autorally_core)/launch/autorally_core_manager.launch" />
<include file="$(find autorally_control)/launch/joystickController.launch" />
</launch>
2 changes: 1 addition & 1 deletion autorally_gazebo/launch/singlePlatform.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ limitations under the License.

<!-- load joint controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner"
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml"/>
args="$(find autorally_gazebo)/config/autoRallyPlatformJointCtrlrParams.yaml --timeout 120"/>

<!-- Control the steering, axle, and shock absorber joints. -->
<node name="autorally_controller" pkg="autorally_gazebo"
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