43_pochito_nav

<?xml version="1.0" encoding="utf-8"?>

<!-- pochito_nav.launch 14/12/19  -->

<launch>

        <!-- ****** Maps ***** -->
        <node name="map_server" pkg="map_server" type="map_server" respawn="true"
                 args="$(find lawn_tractor_sim)/maps/farm.yaml" output="screen">
        <param name="frame_id" value="map"/>
        <param name="use_sim_time" value="true"/>
        </node>

        <!-- ****** Fake localization for map and gps ***** -->
        <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 100"/>

        <!--  Transforms These are the measurements in meters for your sensors (x y z yaw pitch roll) x forward y left z up -->
        <!-- node pkg="tf" type="static_transform_publisher"
                name="base_transform"
                args="0.0 0.0 0.2286 0 0 0 base_footprint base_link 10" -->
        <node pkg="tf" type="static_transform_publisher"
                name="gps_transform" respawn="true"
                args="1.40 0.0 0.55 0 0 0 base_link gps 10" />


        <!--  Start GPS_Pose Localization-->
        <!--  Calc heading from GPS-->
        <node pkg="pochito" type="gps_heading.py" name="gps_heading" output="log"/>

        <!--  Combines heading from gps /vel message and GPS /fix -->
        <include file="$(find geodetic_utils)/launch/gps_to_pose.launch"/>

</launch>