Commit 14df9808 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to estimated external poses instead of fixed poses

parent 2da8a5da
......@@ -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
......
......@@ -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
......
......@@ -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
......
......@@ -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
......
......@@ -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
......
......@@ -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
......
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