Adapted to estimated external poses instead of fixed poses

config/adc_common/adc_global_ekf_odom_imu_amcl.yaml

@@ -9,7 +9,7 @@ use_control: true
 control_config: [true, true, false, false, false, true]
 
 
-publish_tf: false
+publish_tf: true
 map_frame: map
 odom_frame: adc_car/odom
 base_link_frame: adc_car/base_footprint

config/adc_common/landmarks_loc/amcl_mapping.yaml

@@ -3,20 +3,21 @@ global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
 tf_timeout: 0.1
+amcl_pose_estimated_sigma: 0.25
 publish_pose_rate: 0.001
 publish_pose_distance: 0.1
 publish_pose_angle: 0.1
 
-publish_visualization : True
-load_landmarks : False
-landmarks_pos_fixed : False
-search_for_new_landmarks : True
-first_robot_state_fixed : False
-last_robot_state_fixed : True
-all_robot_states_fixed : True
-amcl_localization : True
-calculate_covariance : False
-publish_tf_map_odom : False
+publish_visualization: True
+load_landmarks: False
+landmarks_pos_fixed: False
+search_for_new_landmarks: True
+first_robot_state_estimated: False
+last_robot_state_estimated: False
+all_robot_states_estimated: True
+amcl_localization: True
+calculate_covariance: False
+publish_tf_map_odom: False
 
 update_problem_rate: 0.1
 update_problem_distance: 0.2

config/adc_common/landmarks_loc/landmarks_calibration.yaml

@@ -3,20 +3,21 @@ global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
 tf_timeout: 0.1
+amcl_pose_estimated_sigma: 0.25
 publish_pose_rate: 0.001
 publish_pose_distance: 0.1
 publish_pose_angle: 0.1
 
-publish_visualization : True
-load_landmarks : True
-landmarks_pos_fixed : False
-search_for_new_landmarks : False
-first_robot_state_fixed : True
-last_robot_state_fixed : False
-all_robot_states_fixed : False
-amcl_localization : False
-calculate_covariance : False
-publish_tf_map_odom : True
+publish_visualization: True
+load_landmarks: True
+landmarks_pos_fixed: False
+search_for_new_landmarks: False
+first_robot_state_estimated: True
+last_robot_state_estimated: False
+all_robot_states_estimated: False
+amcl_localization: False
+calculate_covariance: False
+publish_tf_map_odom: True
 
 update_problem_rate: 0.1
 update_problem_distance: 0.2

config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml

@@ -3,20 +3,21 @@ global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
 tf_timeout: 0.1
+amcl_pose_estimated_sigma: 0.25
 publish_pose_rate: 0.001
 publish_pose_distance: 0.1
 publish_pose_angle: 0.1
 
-publish_visualization : True
-load_landmarks : True
-landmarks_pos_fixed : False
-search_for_new_landmarks : False
-first_robot_state_fixed : False
-last_robot_state_fixed : False
-all_robot_states_fixed : True
-amcl_localization : True
-calculate_covariance : False
-publish_tf_map_odom : False
+publish_visualization: True
+load_landmarks: True
+landmarks_pos_fixed: False
+search_for_new_landmarks: False
+first_robot_state_estimated: False
+last_robot_state_estimated: False
+all_robot_states_estimated: True
+amcl_localization: True
+calculate_covariance: False
+publish_tf_map_odom: False
 
 update_problem_rate: 0.1
 update_problem_distance: 0.2

config/adc_common/landmarks_loc/localization.yaml

@@ -3,20 +3,21 @@ global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
 tf_timeout: 0.1
+amcl_pose_estimated_sigma: 0.25
 publish_pose_rate: 0.001
 publish_pose_distance: 0.1
 publish_pose_angle: 0.1
 
-publish_visualization : True
-load_landmarks : True
-landmarks_pos_fixed : True
-search_for_new_landmarks : False
-first_robot_state_fixed : False
-last_robot_state_fixed : False
-all_robot_states_fixed : False
-amcl_localization : False
-calculate_covariance : True
-publish_tf_map_odom : True
+publish_visualization: True
+load_landmarks: True
+landmarks_pos_fixed: True
+search_for_new_landmarks: False
+first_robot_state_estimated: False
+last_robot_state_estimated: False
+all_robot_states_estimated: False
+amcl_localization: False
+calculate_covariance: True
+publish_tf_map_odom: True
 
 update_problem_rate: 0.1
 update_problem_distance: 0.2

config/adc_common/landmarks_loc/slam_mapping.yaml

@@ -3,20 +3,21 @@ global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
 tf_timeout: 0.1
+amcl_pose_estimated_sigma: 0.25
 publish_pose_rate: 0.001
 publish_pose_distance: 0.1
 publish_pose_angle: 0.1
 
-publish_visualization : True
-load_landmarks : False
-landmarks_pos_fixed : False
-search_for_new_landmarks : True
-first_robot_state_fixed : True
-last_robot_state_fixed : False
-all_robot_states_fixed : False
-amcl_localization : False
-calculate_covariance : False
-publish_tf_map_odom : True
+publish_visualization: True
+load_landmarks: False
+landmarks_pos_fixed: False
+search_for_new_landmarks: True
+first_robot_state_estimated: True
+last_robot_state_estimated: False
+all_robot_states_estimated: False
+amcl_localization: False
+calculate_covariance: False
+publish_tf_map_odom: True
 
 update_problem_rate: 0.1
 update_problem_distance: 0.2