tier4_localization_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

Include localization.launch.xml in other launch files as follows.

You can select which methods in localization to launch as pose_estimator or twist_estimator by specifying pose_source and twist_source.

In addition, you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of localization.launch.xml.

  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
    <!-- Localization methods -->
    <arg name="pose_source" value="..."/>
    <arg name="twist_source" value="..."/>

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>