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adapt launch files
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@mfehr
mfehr committed Dec 6, 2019
1 parent cdc3728 commit 2743021
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Showing 5 changed files with 68 additions and 222 deletions.
48 changes: 48 additions & 0 deletions applications/maplab-server-node/launch/euroc/euroc-maplab-server-test-base-station.launch
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<?xml version="1.0"?>

<!--
Requires:
- ethz-asl/maplab_private
- ethz-asl/transfolder
-->


<launch>

<!-- MAPLAB SERVER -->
<group ns="maplab_server">
<include file="$(find maplab_server_node)/launch/maplab-server-node.launch">
<arg name="maplab_server_node_config_file" default="$(find maplab_server_node)/share/euroc/euroc-maplab-server-config.yaml"/>
<arg name="maplab_server_backup_interval_s" default="300"/>
<arg name="maplab_server_merged_map_folder" default="/tmp/maplab_server_merged_map"/>
<arg name="maplab_server_map_update_topic" default="/transfolder_receiver/folder_received"/>

<arg name="v" default="0"/>

<arg name="tf_map_frame" default="map"/>
<arg name="tf_mission_frame" default="maplab_server_odom"/>
<arg name="tf_imu_frame" default="maplab_server_imu"/>
</include>
</group>

<node name="transfolder_receiver" pkg="transfolder" type="receiver_node" output="screen" args="-alsologtostderr">
<remap from="/file_transfer_status" to="/transfolder/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/file_transfer" />
<param name="root_directory" value="/tmp/maplab_server_submaps/"/>
</node>

<!-- ARTIFACT MANAGER NODE -->
<group if="true">
<include file="$(find artifact_manager_node)/launch/artifact_manager.launch">
<arg name="artifact_store_file" default="$(find maplab_server_node)/share/euroc/dummy-artifact-store-euroc.txt" />
<arg name="artifact_vis_world_frame_name" default="map" />
<arg name="artifact_refinement_sensor_frame" default="NCAMERA" />
<arg name="artifact_refinement_check_interval_s" default="10" />
<arg name="artifact_ros_map_lookup_service_topic" default="/maplab_server/map_lookup"/>
<arg name="artifact_ros_new_artifacts_sub_topic" default="/operator/confirmed_artifacts" />

<arg name="artifact_ros_open_rqt" default="true" />
</include>
</group>

</launch>
25 changes: 10 additions & 15 deletions ...ed/euroc-maplab-server-test-robots.launch → ...oc/euroc-maplab-server-test-robots.launch
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Expand Up @@ -39,9 +39,8 @@ Requires:
</include>

<node type="sender_node" pkg="transfolder" name="transfolder_$(arg euroc_robot_name)_sender" output="screen" args="-alsologtostderr">
<remap from="/new_folder_ready" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/file_transfer_status" to="/transfolder/$(arg euroc_robot_name)/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/$(arg euroc_robot_name)/file_transfer" />
<remap from="/send_folder" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/transfolder_$(arg euroc_robot_name)_sender/file_transfer" to="/transfolder/file_transfer" />

<param name="root_directory" value="$(arg euroc_root_map_directory)"/>
<param name="robot_name" value="$(arg euroc_robot_name)"/>
Expand Down Expand Up @@ -71,9 +70,8 @@ Requires:
</include>

<node type="sender_node" pkg="transfolder" name="transfolder_$(arg euroc_robot_name)_sender" output="screen" args="-alsologtostderr">
<remap from="/new_folder_ready" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/file_transfer_status" to="/transfolder/$(arg euroc_robot_name)/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/$(arg euroc_robot_name)/file_transfer" />
<remap from="/send_folder" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/transfolder_$(arg euroc_robot_name)_sender/file_transfer" to="/transfolder/file_transfer" />

<param name="root_directory" value="$(arg euroc_root_map_directory)"/>
<param name="robot_name" value="$(arg euroc_robot_name)"/>
Expand Down Expand Up @@ -103,9 +101,8 @@ Requires:
</include>

<node type="sender_node" pkg="transfolder" name="transfolder_$(arg euroc_robot_name)_sender" output="screen" args="-alsologtostderr">
<remap from="/new_folder_ready" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/file_transfer_status" to="/transfolder/$(arg euroc_robot_name)/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/$(arg euroc_robot_name)/file_transfer" />
<remap from="/send_folder" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/transfolder_$(arg euroc_robot_name)_sender/file_transfer" to="/transfolder/file_transfer" />

<param name="root_directory" value="$(arg euroc_root_map_directory)"/>
<param name="robot_name" value="$(arg euroc_robot_name)"/>
Expand Down Expand Up @@ -135,9 +132,8 @@ Requires:
</include>

<node type="sender_node" pkg="transfolder" name="transfolder_$(arg euroc_robot_name)_sender" output="screen" args="-alsologtostderr">
<remap from="/new_folder_ready" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/file_transfer_status" to="/transfolder/$(arg euroc_robot_name)/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/$(arg euroc_robot_name)/file_transfer" />
<remap from="/send_folder" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/transfolder_$(arg euroc_robot_name)_sender/file_transfer" to="/transfolder/file_transfer" />

<param name="root_directory" value="$(arg euroc_root_map_directory)"/>
<param name="robot_name" value="$(arg euroc_robot_name)"/>
Expand Down Expand Up @@ -167,9 +163,8 @@ Requires:
</include>

<node type="sender_node" pkg="transfolder" name="transfolder_$(arg euroc_robot_name)_sender" output="screen" args="-alsologtostderr">
<remap from="/new_folder_ready" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/file_transfer_status" to="/transfolder/$(arg euroc_robot_name)/file_transfer_status" />
<remap from="/file_transfer" to="/transfolder/$(arg euroc_robot_name)/file_transfer" />
<remap from="/send_folder" to="/$(arg euroc_robot_name)/maplab_node/map_update_notification" />
<remap from="/transfolder_$(arg euroc_robot_name)_sender/file_transfer" to="/transfolder/file_transfer" />

<param name="root_directory" value="$(arg euroc_root_map_directory)"/>
<param name="robot_name" value="$(arg euroc_robot_name)"/>
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112 changes: 0 additions & 112 deletions applications/maplab-server-node/launch/euroc/euroc-maplab-server-test.launch
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91 changes: 0 additions & 91 deletions .../maplab-server-node/launch/euroc_distributed/euroc-maplab-server-test-base-station.launch
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14 changes: 10 additions & 4 deletions applications/maplab-server-node/launch/maplab-server-node.launch
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Expand Up @@ -2,7 +2,11 @@

<launch>
<!-- SENSORS -->
<arg name="server_node_config_file" default="$(find maplab_server_node)/share/darpa-smb-pittsburgh.yaml"/>
<arg name="maplab_server_node_config_file" default="$(find maplab_server_node)/share/darpa-smb-pittsburgh.yaml"/>
<arg name="maplab_server_backup_interval_s" default="300"/>
<arg name="maplab_server_merged_map_folder" default="/tmp/merged_map"/>
<arg name="maplab_server_map_update_topic" default="map_update_notification"/>

<arg name="overwrite" default="true"/>

<arg name="alsologtostderr" default="true"/>
Expand All @@ -17,7 +21,11 @@


<node name="maplab_server_node" pkg="maplab_server_node" type="maplab_server_node" output="screen" clear_params="true">
<param name="server_node_config_file" value="$(arg server_node_config_file)"/>
<param name="maplab_server_node_config_file" value="$(arg maplab_server_node_config_file)"/>
<param name="maplab_server_backup_interval_s" value="$(arg maplab_server_backup_interval_s)"/>
<param name="maplab_server_merged_map_folder" value="$(arg maplab_server_merged_map_folder)"/>
<param name="maplab_server_map_update_topic" value="$(arg maplab_server_map_update_topic)"/>

<param name="overwrite" value="$(arg overwrite)"/>

<!-- DEBUGGING AND LOGGING -->
Expand All @@ -27,8 +35,6 @@
<param name="vis_default_namespace" value="$(arg vis_default_namespace)"/>
<param name="show_progress_bar" value="false"/>



<!-- TF -->
<param name="tf_map_frame" value="$(arg tf_map_frame)"/>
<param name="tf_mission_frame" value="$(arg tf_mission_frame)"/>
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