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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
14df9808
Commit
14df9808
authored
Jun 08, 2021
by
Alejandro Lopez Gestoso
Browse files
Adapted to estimated external poses instead of fixed poses
parent
2da8a5da
Changes
6
Hide whitespace changes
Inline
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config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
View file @
14df9808
...
...
@@ -9,7 +9,7 @@ use_control: true
control_config
:
[
true
,
true
,
false
,
false
,
false
,
true
]
publish_tf
:
fals
e
publish_tf
:
tru
e
map_frame
:
map
odom_frame
:
adc_car/odom
base_link_frame
:
adc_car/base_footprint
...
...
config/adc_common/landmarks_loc/amcl_mapping.yaml
View file @
14df9808
...
...
@@ -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_
fix
ed
:
False
last_robot_state_
fix
ed
:
Tru
e
all_robot_states_
fix
ed
:
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_
estimat
ed
:
False
last_robot_state_
estimat
ed
:
Fals
e
all_robot_states_
estimat
ed
:
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
View file @
14df9808
...
...
@@ -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_
fix
ed
:
True
last_robot_state_
fix
ed
:
False
all_robot_states_
fix
ed
:
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_
estimat
ed
:
True
last_robot_state_
estimat
ed
:
False
all_robot_states_
estimat
ed
:
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
View file @
14df9808
...
...
@@ -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_
fix
ed
:
False
last_robot_state_
fix
ed
:
False
all_robot_states_
fix
ed
:
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_
estimat
ed
:
False
last_robot_state_
estimat
ed
:
False
all_robot_states_
estimat
ed
:
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
View file @
14df9808
...
...
@@ -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_
fix
ed
:
False
last_robot_state_
fix
ed
:
False
all_robot_states_
fix
ed
:
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_
estimat
ed
:
False
last_robot_state_
estimat
ed
:
False
all_robot_states_
estimat
ed
:
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
View file @
14df9808
...
...
@@ -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_
fix
ed
:
True
last_robot_state_
fix
ed
:
False
all_robot_states_
fix
ed
:
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_
estimat
ed
:
True
last_robot_state_
estimat
ed
:
False
all_robot_states_
estimat
ed
:
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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