Add maps

.gitignore

@@ -24,7 +24,7 @@ local.properties
 .externalToolBuilders/
 
 # Locally stored "Eclipse launch configurations"
-*.launch
+#*.launch
 
 # PyDev specific (Python IDE for Eclipse)
 *.pydevproject

map/hairpin-track.yaml

@@ -0,0 +1,7 @@
+image: hairpin-track.jpg
+resolution: 0.018
+origin: [-10.5, -1.3, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/round-track.yaml

@@ -0,0 +1,7 @@
+image: round-track.jpg
+resolution: 0.050000
+origin: [-10, -1.22, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/simulator.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<!-- Changes: -->
+<!-- the keyboard/random-walker nodes have problems in virtual machines, they are removed -->
+<!-- map changed -->
+<launch>
+  <!-- Listen to messages from joysicks -->
+  <node pkg="joy" name="joy_node" type="joy_node"/>
+
+  <!-- Launch a map from the maps folder-->
+  <arg name="map" default="$(find f1tenth_simulator)/maps/hairpin-track.yaml"/>
+  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map)"/>
+
+  <!-- Launch the racecar model -->
+  <include file="$(find f1tenth_simulator)/launch/racecar_model.launch"/>
+
+  <!-- Begin the simulator with the parameters from params.yaml -->
+  <node pkg="f1tenth_simulator" name="f1tenth_simulator" type="simulator" output="screen">
+    <rosparam command="load" file="$(find f1tenth_simulator)/params.yaml"/>
+  </node>
+
+  <!-- Launch the mux node with the parameters from params.yaml -->
+  <node pkg="f1tenth_simulator" name="mux_controller" type="mux" output="screen">
+    <rosparam command="load" file="$(find f1tenth_simulator)/params.yaml"/>
+  </node>
+
+  <!-- Launch RVIZ -->
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find f1tenth_simulator)/launch/simulator.rviz" output="screen"/>
+</launch>