From 14df9808a5680396366dfcbc372187f0c7571e1c Mon Sep 17 00:00:00 2001 From: Alejandro Lopez Gestoso <alopez@iri.upc.edu> Date: Tue, 8 Jun 2021 11:34:09 +0200 Subject: [PATCH] Adapted to estimated external poses instead of fixed poses --- .../adc_global_ekf_odom_imu_amcl.yaml | 2 +- .../landmarks_loc/amcl_mapping.yaml | 21 ++++++++++--------- .../landmarks_loc/landmarks_calibration.yaml | 21 ++++++++++--------- .../landmarks_calibration_amcl.yaml | 21 ++++++++++--------- .../landmarks_loc/localization.yaml | 21 ++++++++++--------- .../landmarks_loc/slam_mapping.yaml | 21 ++++++++++--------- 6 files changed, 56 insertions(+), 51 deletions(-) diff --git a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml index 1a9f450..b3434fd 100644 --- a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml +++ b/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 diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml index bbbbe0e..1be0e2a 100644 --- a/config/adc_common/landmarks_loc/amcl_mapping.yaml +++ b/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 diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml index a66e49d..a3c83ed 100644 --- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml +++ b/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 diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml index 0c27f1e..448a4d5 100644 --- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml +++ b/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 diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml index 317fdbf..0b9eec2 100644 --- a/config/adc_common/landmarks_loc/localization.yaml +++ b/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 diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml index b0ee7bb..4e943f3 100644 --- a/config/adc_common/landmarks_loc/slam_mapping.yaml +++ b/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 -- GitLab