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Commit a3aedbb3 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated config files

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config/amcl_mapping.yaml
+ 10
− 7
View file @ a3aedbb3
rate: 200.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" base_link_frame: "adc_car/base_link"
tf_timeout: 0.1 tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
...@@ -19,19 +20,21 @@ amcl_localization: True ...@@ -19,19 +20,21 @@ amcl_localization: True
calculate_covariance: False calculate_covariance: False
publish_tf_map_odom: False publish_tf_map_odom: False
update_problem_rate: 0.1 update_problem_rate: 0.001
update_problem_distance: 0.2 update_problem_distance: 0.07
update_problem_angle: 0.1 update_problem_angle: 0.07
update_problem_features_detected: 3 update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2 wait_feature_detected_timeout: 0.2
problem_frame_window: -1 problem_frame_window: -1
landmarks_candidates_filter_en: True landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.0 landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4 landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2 sensor_sigma_r: 0.2
sensor_sigma_th: 0.1 sensor_sigma_th: 0.3
odom_fxy: 0.1 odom_fxy: 0.1
odom_fth: 0.15 odom_fth: 0.15
......
config/landmarks_calibration.yaml
+ 10
− 7
View file @ a3aedbb3
rate: 200.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" base_link_frame: "adc_car/base_link"
tf_timeout: 0.1 tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
...@@ -19,19 +20,21 @@ amcl_localization: False ...@@ -19,19 +20,21 @@ amcl_localization: False
calculate_covariance: False calculate_covariance: False
publish_tf_map_odom: True publish_tf_map_odom: True
update_problem_rate: 0.1 update_problem_rate: 0.001
update_problem_distance: 0.2 update_problem_distance: 0.07
update_problem_angle: 0.1 update_problem_angle: 0.07
update_problem_features_detected: 3 update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2 wait_feature_detected_timeout: 0.2
problem_frame_window: -1 problem_frame_window: -1
landmarks_candidates_filter_en: True landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.0 landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4 landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2 sensor_sigma_r: 0.2
sensor_sigma_th: 0.1 sensor_sigma_th: 0.3
odom_fxy: 0.1 odom_fxy: 0.1
odom_fth: 0.15 odom_fth: 0.15
......
config/landmarks_calibration_amcl.yaml
+ 10
− 7
View file @ a3aedbb3
rate: 200.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" base_link_frame: "adc_car/base_link"
tf_timeout: 0.1 tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
...@@ -19,19 +20,21 @@ amcl_localization: True ...@@ -19,19 +20,21 @@ amcl_localization: True
calculate_covariance: False calculate_covariance: False
publish_tf_map_odom: False publish_tf_map_odom: False
update_problem_rate: 0.1 update_problem_rate: 0.001
update_problem_distance: 0.2 update_problem_distance: 0.07
update_problem_angle: 0.1 update_problem_angle: 0.07
update_problem_features_detected: 3 update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2 wait_feature_detected_timeout: 0.2
problem_frame_window: -1 problem_frame_window: -1
landmarks_candidates_filter_en: True landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.0 landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4 landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2 sensor_sigma_r: 0.2
sensor_sigma_th: 0.1 sensor_sigma_th: 0.3
odom_fxy: 0.1 odom_fxy: 0.1
odom_fth: 0.15 odom_fth: 0.15
......
config/localization.yaml
+ 11
− 8
View file @ a3aedbb3
rate: 200.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" base_link_frame: "adc_car/base_link"
tf_timeout: 0.1 tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
...@@ -19,19 +20,21 @@ amcl_localization: False ...@@ -19,19 +20,21 @@ amcl_localization: False
calculate_covariance: True calculate_covariance: True
publish_tf_map_odom: False publish_tf_map_odom: False
update_problem_rate: 0.1 update_problem_rate: 0.001
update_problem_distance: 0.2 update_problem_distance: 0.07
update_problem_angle: 0.1 update_problem_angle: 0.07
update_problem_features_detected: 3 update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2 wait_feature_detected_timeout: 0.2
problem_frame_window: 60 problem_frame_window: 120
landmarks_candidates_filter_en: True landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.0 landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4 landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2 sensor_sigma_r: 0.2
sensor_sigma_th: 0.1 sensor_sigma_th: 0.3
odom_fxy: 0.1 odom_fxy: 0.1
odom_fth: 0.15 odom_fth: 0.15
......
config/slam_mapping.yaml
+ 13
− 10
View file @ a3aedbb3
rate: 200.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" base_link_frame: "adc_car/base_link"
tf_timeout: 0.1 tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
...@@ -12,26 +13,28 @@ publish_visualization: True ...@@ -12,26 +13,28 @@ publish_visualization: True
load_landmarks: False load_landmarks: False
landmarks_pos_fixed: False landmarks_pos_fixed: False
search_for_new_landmarks: True search_for_new_landmarks: True
first_robot_state_fixed: True first_robot_state_estimated: True
last_robot_state_fixed: False last_robot_state_estimated: False
all_robot_states_fixed: False all_robot_states_estimated: False
amcl_localization: False amcl_localization: False
calculate_covariance: False calculate_covariance: False
publish_tf_map_odom: True publish_tf_map_odom: True
update_problem_rate: 0.1 update_problem_rate: 0.001
update_problem_distance: 0.2 update_problem_distance: 0.07
update_problem_angle: 0.1 update_problem_angle: 0.07
update_problem_features_detected: 3 update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2 wait_feature_detected_timeout: 0.2
problem_frame_window: -1 problem_frame_window: -1
landmarks_candidates_filter_en: True landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.0 landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4 landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2 sensor_sigma_r: 0.2
sensor_sigma_th: 0.1 sensor_sigma_th: 0.3
odom_fxy: 0.1 odom_fxy: 0.1
odom_fth: 0.15 odom_fth: 0.15
......
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