webots_navigation.launch

<?xml version="1.0"?>

<!--
    Main launch file for twizy simulation. This file starts every node you
    need to simulate the car locally in Webots. This launch file might not run
    on the car's on-board computer since webots might not be installed on there.
-->

<launch>
    <arg name="world" default="flat.wbt" doc="Path to the world to load" />

    <!-- Start webots, including publishing of simulated sensor values -->
    <include file="$(find twizy_webots)/launch/webots.launch">
        <arg name="world" value="$(arg world)" />
    </include>

    <!-- Publish transforms and perform localization -->
    <include file="$(find twizy_bringup)/launch/include/transforms.launch" />

    <!-- Start Navigation Stack -->
    <include file="$(find twizy_bringup)/launch/include/nav_stack.launch" />

    <!-- Start YOLO -->
    <include file="$(find twizy_bringup)/launch/include/yolo.launch" />

    <!-- Convert /cmd_vel to /ackermann_cmd -->
    <include file="$(find twizy_bringup)/launch/include/twist_to_ackermann.launch" />

    <!-- Start rviz -->
    <include file="$(find twizy_bringup)/launch/include/rviz.launch" />
</launch>