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8 | 8 | <arg name="gnss_enabled" default="true" description="gnss availability for initial position estimation"/>
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9 | 9 |
|
10 | 10 | <!-- split string with underscores -->
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11 |
| - <let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\']"/> |
| 11 | + <let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\',\'nerf\']"/> |
12 | 12 | <let name="split_function" value="list(set('$(var pose_source)'.split('_')).intersection($(var available_args)))"/>
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13 | 13 | <let name="pose_sources" value="$(eval $(var split_function))"/>
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14 | 14 | <let name="multi_localizer_mode" value="$(eval "len($(var pose_sources))> 1")"/>
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|
17 | 17 | <let name="use_ndt_pose" value="$(eval "'ndt' in $(var pose_sources)")"/>
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18 | 18 | <let name="use_yabloc_pose" value="$(eval "'yabloc' in $(var pose_sources)")"/>
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19 | 19 | <let name="use_artag_pose" value="$(eval "'artag' in $(var pose_sources)")"/>
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| 20 | + <let name="use_nerf_pose" value="$(eval "'nerf' in $(var pose_sources)")"/> |
20 | 21 | <let name="use_eagleye_pose" value="$(eval "'eagleye' in $(var pose_sources)")"/>
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21 | 22 | <let name="use_eagleye_twist" value="$(eval "'eagleye' == '$(var twist_source)'")"/>
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22 | 23 | <let name="use_gyro_odom_twist" value="$(eval "'gyro_odom' == '$(var twist_source)'")"/>
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|
72 | 73 | </include>
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73 | 74 | </group>
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74 | 75 |
|
| 76 | + <!-- NeRF Based Localizer (as pose estimator) --> |
| 77 | + <group if="$(var use_nerf_pose)"> |
| 78 | + <push-ros-namespace namespace="pose_estimator"/> |
| 79 | + <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/nerf_based_localizer.launch.xml"/> |
| 80 | + </group> |
| 81 | + |
75 | 82 | <!-- Pose Estimator Arbiter Launch -->
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76 | 83 | <group if="$(var multi_localizer_mode)">
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77 | 84 | <include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
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|
113 | 120 | <arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
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114 | 121 | </include>
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115 | 122 | </group>
|
116 |
| - |
117 |
| - <!-- NeRF Based Localizer (as pose estimator) --> |
118 |
| - <group if="$(eval "'$(var pose_source)'=='nerf'")"> |
119 |
| - <group> |
120 |
| - <push-ros-namespace namespace="pose_estimator"/> |
121 |
| - <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/nerf_based_localizer.launch.xml"/> |
122 |
| - </group> |
123 |
| - |
124 |
| - <group> |
125 |
| - <push-ros-namespace namespace="util"/> |
126 |
| - <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml"> |
127 |
| - <arg name="ndt_enabled" value="false"/> |
128 |
| - <arg name="gnss_enabled" value="false"/> |
129 |
| - <arg name="ekf_enabled" value="true"/> |
130 |
| - <arg name="yabloc_enabled" value="false"/> |
131 |
| - <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/> |
132 |
| - <arg name="config_file" value="$(var pose_initializer_param_path)"/> |
133 |
| - <arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/> |
134 |
| - </include> |
135 |
| - <include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml"/> |
136 |
| - </group> |
137 |
| - </group> |
138 | 123 | </launch>
|
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