Initial commit for public release

AUTHORS

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+Maintainers
+-----------
+PDSL, Nagoya University <http://www.pdsl.jp>
+AXE, Inc. <http://www.axe-inc.co.jp>
+
+Developers
+----------
+Tomohiro ANDO, Nagoya University
+Takuya AZUMI, Ritsumeikan University - Osaka University
+Yusuke FUJII, Ritsumeikan University - NTT
+Tsuyoshi HAMADA, Nagasaki University
+Alexander (Mengwen) HE, Nagoya University
+Manato HIRABAYASHI, Nagoya University
+Tomomi HORII, AXE
+Yuki IIDA, Ritsumeikan University
+Yoshio ISHIGURO, Nagoya University
+Shinpei KATO, Nagoya University
+Masao KONDOH, AXE
+Yuki KITSUKAWA, Nagoya University
+Abraham MONRROY, Nagoya University
+Hiroki OHTA, Nagoya University
+Matthew O'KELLY, University of Pennsylvania
+Patricia ORTAL, Nagoya University
+Yukihiro SAITO, Ritsumeikan University
+Tomoya SHOUJI, AXE
+Adi SUJIWO, Nagoya University
+Yuhei SUZUKI, Ritsumeikan University
+Eijiro TAKEUCHI, Nagoya University
+Hisashi USUDA, AXE
+Makoto YABUTA, Nagoya University - AISIN AW
+Kenjiro YAMADA, Nagoya University
+Syohei YOSHIDA, AXE
+
+Contact
+-------
+Shinpei KATO <[email protected]>
+Autoware Developers <[email protected]>

LICENSE

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+Copyright (c) 2014, Nagoya University
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of Autoware nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,2 +1,95 @@
 # Autoware
-Open-source software for urban autonomous driving
+
+Open-source software for autonomous driving
+
+## License
+
+* New BSD License
+    * See LICENSE
+
+## Requirements
+
+- ROS indigo(Ubuntu 13.10, 14.04) or ROS hydro(Ubuntu 13.04)
+- OpenCV 2.4.8 or higher
+- Qt 5.2.1 or higher
+- CUDA(Optional)
+- FlyCapture2(optional)
+
+### Install dependencies for Ubuntu 14.04 indigo
+
+```
+% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-sound-play
+% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev
+```
+
+### Install dependencies for Ubuntu 13.10 indigo and Ubuntu 13.04 hydro
+
+```
+% sudo apt-get install ros-hydro-desktop-full ros-indigo-nmea-msgs ros-hydro-sound-play
+% sudo apt-get install libnlopt-dev freeglut3-dev libssh2-1-dev
+```
+
+### Install Velodyne Driver dependencies 
+```
+% sudo apt-get install libpcap-dev
+% mkdir -p ~/ros_drivers/src
+% cd ~/ros_drivers/src 
+% catkin_init_workspace
+% git clone https://github.com/ros-drivers/velodyne.git
+% cd ~/ros_drivers 
+% catkin_make
+% source devel/setup.bash
+```
+
+You cannot build **Autoware/ros** source code with those OpenCV and Qt5 package,
+because they are too old. So you have to install newer OpenCV and Qt5.
+
+#### Install OpenCV
+
+You can download source code from [here](http://sourceforge.net/projects/opencvlibrary/).
+
+```
+% unzip opencv-2.4.8.zip
+% cd opencv-2.4.8
+% cmake .
+% make
+% make install
+```
+
+#### Install Qt 5
+
+Document is [here](http://qt-project.org/wiki/Building_Qt_5_from_Git).
+
+First you have to install Qt5 dependencies.
+
+```
+% sudo apt-get build-dep qt5-default
+% sudo apt-get install build-essential perl python git
+% sudo apt-get install "^libxcb.*" libx11-xcb-dev libglu1-mesa-dev libxrender-dev libxi-dev
+% sudo apt-get install flex bison gperf libicu-dev libxslt-dev ruby
+% sudo apt-get install libssl-dev libxcursor-dev libxcomposite-dev libxdamage-dev libxrandr-dev libfontconfig1-dev
+% sudo apt-get install libasound2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
+```
+
+```
+% git clone git://code.qt.io/qt/qt5.git
+% cd qt5
+% git checkout v5.2.1 # <- Same as Ubuntu 14.04 'qtbase5-dev'
+% perl init-repository --no-webkit # <- webkit is very too large
+% ./configure -developer-build -opensource -nomake examples -nomake tests # And accept the license 
+% make -j # You may take a few hours
+% make install
+% sudo cp -r qtbase /usr/local/qtbase5
+```
+[This page](https://qt.gitorious.org/qt/qtbase/commit/9d2edfe5248fce8b16693fad8304f94a1f101bab) could help you when `make` returns error. 
+
+## How to Build
+
+```
+$ cd $HOME
+$ git clone https://github.com/CPFL/Autoware.git
+$ cd ~/Autoware/ros/src
+$ catkin_init_workspace
+$ cd ../
+$ ./catkin_make_release
+```

THANKS

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+Industrial Partners
+-------------------
+YAMAHA MOTOR CORPORATION
+TOYOTA MOTOR CORPORATION
+AISIN COMCRUISE
+NEC CORPORATION
+DENSO CORPORATION
+PANASONIC CORPORATION
+TOSHIBA CORPORATION
+
+Urban Drive WG
+--------------
+AISAN TECHNOLOGY
+ESOL
+GNSS TECHNOLOGIES
+HERE
+HOKUYO AUTOMATIC
+IIC CORPORATION
+INCREMENT P CORPORATION
+INTEL
+KEENO CONSULTING
+ZMP
+
+Funding Acknowledgement
+-----------------------
+JST CREST "Modeling and Detecting Overtrust from Behavior Signals"
+JST COI STREAM "A Diverse and Individualized Social Innovation Hub"

ros/.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

ros/.gitignore

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+# files generated by CMake
+CMakeCache.txt
+CMakeFiles/
+CTestTestfile.cmake
+Makefile
+cmake_install.cmake
+/src/CMakeLists.txt
+
+# catkin files
+catkin/
+catkin_generated/
+/build/
+/devel/
+/install/
+/gtest/

ros/catkin_make_release

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+#!/usr/bin/env bash
+set -e
+
+if [[ -d build ]]; then
+    rm -rf build
+fi
+
+if [[ -d devel ]]; then
+    rm -rf devel
+fi
+
+catkin_make clean
+source devel/setup.bash
+
+catkin_make -DCMAKE_BUILD_TYPE=Release $@

ros/run

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+#!/bin/bash
+# get where I am
+MY_PATH=$(readlink -f  $(dirname $0))
+
+# boot ros-master
+gnome-terminal --geometry=50x10+0+0 --title="roscore" --working-directory=${MY_PATH} --command="bash -c 'source ./devel/setup.bash; roscore'"&
+
+# boot runtime_manager
+gnome-terminal --geometry=50x10+500+0 --title="runtime_manager" --working-directory=${MY_PATH} --command="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"

ros/shutdown

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+#!/bin/sh
+echo shutdown script
+
+echo ""disable gnss cmd " > /dev/ttyUSB0"
+cat ./src/sensing/drivers/gnss/packages/navsat/scripts/disable.txt > /dev/ttyUSB0 

ros/src/.config/quick_start/sample_lidar_camera/detection.launch

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+<launch>
+
+  <!-- setting of this launch file -->
+  <arg name="is_use_gpu" default="true" />
+  <arg name="car_detection" default="true" />
+  <arg name="pedestrian_detection" default="true" />
+
+  <!-- car and pedestrian detection -->
+  <!-- dpm_XXX -->
+  <include file="$(find cv_tracker)/launch/dpm_ttic.launch">
+    <arg name="car" value="$(arg car_detection)" />
+    <arg name="pedestrian" value="$(arg pedestrian_detection)" />
+    <arg name="use_gpu" value="$(arg is_use_gpu)" />
+  </include>
+
+  <!-- range_fusion -->
+  <include file="$(find cv_tracker)/launch/ranging.launch">
+    <arg name="car" value="$(arg car_detection)" />
+    <arg name="pedestrian" value="$(arg pedestrian_detection)" />
+  </include>
+
+  <!-- XXX_track -->
+  <include file="$(find cv_tracker)/launch/kf_tracking.launch">
+    <arg name="car" value="$(arg car_detection)" />
+    <arg name="pedestrian" value="$(arg pedestrian_detection)" />
+  </include>
+
+  <!-- obj_reproj -->
+  <include file="$(find cv_tracker)/launch/reprojection.launch">
+    <arg name="car" value="$(arg car_detection)" />
+    <arg name="pedestrian" value="$(arg pedestrian_detection)" />
+  </include>
+
+  <!-- euclidean_cluster -->
+  <include file="$(find lidar_tracker)/launch/euclidean_clustering.launch">
+  </include>
+
+  <!-- obj_fusion -->
+  <include file="$(find lidar_tracker)/launch/obj_fusion.launch">
+    <arg name="car" value="$(arg car_detection)" />
+    <arg name="pedestrian" value="$(arg pedestrian_detection)" />
+  </include>
+
+
+  <!-- traffic light recognition -->
+  <!-- feat_proj -->
+  <node pkg="road_wizard" type="feat_proj" name="feat_proj">
+  </node>
+
+  <!-- region_tlr -->
+  <include file="$(find road_wizard)/launch/traffic_light_recognition.launch">
+  </include>
+
+</launch>

ros/src/.config/quick_start/sample_lidar_camera/localization.launch

@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- calibration file path -->
+  <arg name="vscan_calib" default="/home/pdsljp/.autoware/data/calibration/camera_lidar_3d/prius/nic-150407.yml"/>
+
+  <!-- nmea2tfpose -->
+  <!-- node pkg="gnss_localizer" type="nmea2tfpose" name="nmea2tfpose"/ -->
+  <include file="$(find gnss_localizer)/launch/nmea2tfpose.launch"/>
+
+  <!-- ndt_matching -->
+  <include file="$(find ndt_localizer)/launch/ndt_matching.launch"/>
+
+  <!-- calibration_publisher -->
+  <include file="$(find runtime_manager)/scripts/calibration_publisher.launch">
+    <arg name="file" value="$(arg vscan_calib)" />
+  </include>
+
+  <!-- vscan -->
+  <include file="$(find runtime_manager)/scripts/vscan.launch" />
+
+</launch>

ros/src/.config/quick_start/sample_lidar_camera/map.launch

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+<launch>
+
+  <!-- TF -->
+  <include file="/home/pdsljp/.autoware/data/tf/tf.launch"/>
+
+  <!-- Point Cloud -->
+  <node pkg="map_file" type="points_map_loader" name="points_map_loader" args="noupdate /home/pdsljp/.autoware/data/map/pointcloud_map/global_moriyama_rgb-2.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00168_-00866.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/global_moriyama_rgb-4.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00148_-00848.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00168_-00867.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00169_-00868.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00155_-00855.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00159_-00858.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00152_-00849.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00166_-00864.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00155_-00854.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00158_-00858.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00847.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00168_-00868.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00159_-00859.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/global_moriyama_rgb-3.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00144_-00854.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00150_-00847.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00851.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00155_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00150_-00848.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00167_-00867.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00157_-00856.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00166_-00865.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00156_-00856.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00158_-00856.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00158_-00857.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00151_-00848.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00153_-00851.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00169_-00869.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00153_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00151_-00850.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00168_-00869.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00163_-00862.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00160_-00859.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00157_-00857.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00156_-00855.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00149_-00847.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00144_-00853.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00148_-00849.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00167_-00864.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00161_-00860.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00154_-00851.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00160_-00858.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00148_-00847.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/global_moriyama_rgb-1.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00144_-00855.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00146_-00851.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00160_-00861.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00156_-00854.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00146_-00847.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00154_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00153_-00850.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00162_-00861.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00162_-00862.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00146_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00152_-00851.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00164_-00863.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00846.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00160_-00860.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00168_-00865.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00145_-00852.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00167_-00865.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00849.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00147_-00850.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00167_-00866.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00164_-00862.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00151_-00849.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00146_-00853.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00145_-00854.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00163_-00861.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00150_-00846.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00145_-00853.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00152_-00850.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00154_-00853.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00146_-00846.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00149_-00846.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00165_-00864.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00149_-00848.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00159_-00857.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00161_-00861.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00165_-00863.pcd /home/pdsljp/.autoware/data/map/pointcloud_map/Laser-00155_-00853.pcd"/>
+
+  <!-- Vector Map -->
+  <node pkg="map_file" type="vector_map_loader" name="vector_map_loader" args="/home/pdsljp/.autoware/data/map/vector_map/road_surface_mark.csv /home/pdsljp/.autoware/data/map/vector_map/pole.csv /home/pdsljp/.autoware/data/map/vector_map/lane.csv /home/pdsljp/.autoware/data/map/vector_map/stopline.csv /home/pdsljp/.autoware/data/map/vector_map/area.csv /home/pdsljp/.autoware/data/map/vector_map/vector.csv /home/pdsljp/.autoware/data/map/vector_map/streetlight.csv /home/pdsljp/.autoware/data/map/vector_map/line.csv /home/pdsljp/.autoware/data/map/vector_map/gutter.csv /home/pdsljp/.autoware/data/map/vector_map/signaldata.csv /home/pdsljp/.autoware/data/map/vector_map/curb.csv /home/pdsljp/.autoware/data/map/vector_map/idx.csv /home/pdsljp/.autoware/data/map/vector_map/roadedge.csv /home/pdsljp/.autoware/data/map/vector_map/point.csv /home/pdsljp/.autoware/data/map/vector_map/poledata.csv /home/pdsljp/.autoware/data/map/vector_map/crosswalk.csv /home/pdsljp/.autoware/data/map/vector_map/node.csv /home/pdsljp/.autoware/data/map/vector_map/utilitypole.csv /home/pdsljp/.autoware/data/map/vector_map/whiteline.csv /home/pdsljp/.autoware/data/map/vector_map/dtlane.csv /home/pdsljp/.autoware/data/map/vector_map/zebrazone.csv /home/pdsljp/.autoware/data/map/vector_map/roadsign.csv"/>
+
+</launch>

ros/src/.config/quick_start/sample_lidar_camera/mission_planning.launch

@@ -0,0 +1,26 @@
+<launch>
+
+  <!-- setting path parameter -->
+  <rosparam param="/waypoint_loader/lane_waypoint_csv">
+    /home/pdsljp/.autoware/data/path/aeon_ryusenji.csv
+  </rosparam>
+  <!-- <rosparam param="/waypoint_loader/vector_map_directory">
+    /home/pdsljp/.autoware/data/map/vector_map
+  </rosparam> -->
+
+  <!-- Tablet UI -->
+  <include file="$(find runtime_manager)/scripts/tablet_socket.launch"/>
+
+  <!-- waypoint_loader -->
+  <include file="$(find waypoint_maker)/launch/waypoint_loader.launch"/>
+
+  <!-- lane_rule -->
+  <node pkg="lane_planner" type="lane_rule" name="lane_rule" />
+
+  <!-- lane_change -->
+  <node pkg="lane_planner" type="lane_change" name="lane_change" />
+
+  <!-- velocity_set -->
+  <node pkg="driving_planner" type="velocity_set" name="velocity_set" />
+
+</launch>

ros/src/.config/quick_start/sample_lidar_camera/motion_planning.launch

@@ -0,0 +1,12 @@
+<launch>
+
+  <!-- Vehicle Contorl -->
+  <include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>
+
+  <!-- pure_pursuit -->
+  <include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>
+
+  <!-- twist_through -->
+  <node pkg="waypoint_follower" type="twist_through" name="twist_through"/>
+
+</launch>

ros/src/.config/quick_start/sample_lidar_camera/sensing.launch

@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- calibration file path -->
+  <arg name="velodyne_calib" default="/opt/ros/indigo/share/velodyne_pointcloud/params/32db.yaml"/>
+  <arg name="camera_calib" default="/home/pdsljp/.autoware/data/calibration/camera_lidar_3d/prius/nic_150407.yml"/>
+
+  <!-- HDL-32e -->
+  <include file="$(find velodyne)/scripts/velodyne_hdl32e.launch">
+    <arg name="calibration" value="$(arg velodyne_calib)"/>
+  </include>
+
+  <!-- Javad Delta 3 -->
+  <!-- <node pkg="javad" type="gnss.sh" name="javad_driver"/> -->
+
+  <!-- PointGrey Grasshopper3 -->
+  <include file="$(find pointgrey)/scripts/grasshopper3.launch">
+    <arg name="CalibrationFile" value="$(arg camera_calib)"/>
+  </include>
+
+</launch>