Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Menu
Open sidebar
mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
2905e7bc
Commit
2905e7bc
authored
Aug 05, 2021
by
Alejandro Lopez Gestoso
Browse files
updated to image_roi node
parent
b3146c53
Changes
6
Hide whitespace changes
Inline
Side-by-side
config/adc_common/landmarks_loc/amcl_mapping.yaml
View file @
2905e7bc
rate
:
20
0.0
rate
:
5
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
...
...
config/adc_common/landmarks_loc/landmarks_calibration.yaml
View file @
2905e7bc
rate
:
20
0.0
rate
:
5
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
...
...
config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
View file @
2905e7bc
rate
:
20
0.0
rate
:
5
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
...
...
config/adc_common/landmarks_loc/localization.yaml
View file @
2905e7bc
rate
:
20
0.0
rate
:
5
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
...
...
config/adc_common/landmarks_loc/slam_mapping.yaml
View file @
2905e7bc
rate
:
20
0.0
rate
:
5
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
...
...
launch/adc_global_localization.launch
View file @
2905e7bc
...
...
@@ -7,6 +7,11 @@
<!--Ar track alvar parameters-->
<arg
name=
"marker_size"
default=
"5.0"
/>
<arg
name=
"ar_max_freq"
default=
"30.0"
/>
<!-- Img ROI parameters -->
<arg
name=
"front_roi_config_file"
default=
"$(find iri_adc_launch)/config/adc_common/basler_roi_config.yaml"
/>
<arg
name=
"rear_roi_config_file"
default=
"$(find iri_adc_launch)/config/adc_common/delock_roi_config.yaml"
/>
<!-- Global localization parameters-->
<arg
name=
"car_x"
default=
"0.0"
/>
...
...
@@ -23,23 +28,52 @@
<arg
name=
"features_topic_name"
default=
"/$(arg car_name)/features"
/>
<arg
name=
"use_rear_camera_loc"
default=
"false"
/>
<!-- opendrive and map tf -->
<arg
name=
"opendrive_x"
default=
"0.0"
/>
<arg
name=
"opendrive_y"
default=
"0.0"
/>
<arg
name=
"opendrive_yaw"
default=
"0.0"
/>
<node
name=
"static_tf_map_to_opendrive"
pkg=
"tf"
type=
"static_transform_publisher"
args=
"$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100"
>
</node>
<group
ns=
"$(arg car_name)"
>
<!--Front ar track_alvar -->
<!-- Front image ROI -->
<include
file=
"$(find iri_image_roi)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"front_iri_image_roi"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<arg
name=
"config_file"
value=
"$(arg front_roi_config_file)"
/>
<arg
name=
"image_raw_in_topic"
value=
"/$(arg car_name)/sensors/basler_camera/image_raw"
/>
<arg
name=
"camera_info_in_topic"
value=
"/$(arg car_name)/sensors/basler_camera/camera_info"
/>
<arg
name=
"image_raw_out_topic"
value=
"/$(arg car_name)/sensors/basler_camera_roi/image_raw"
/>
<arg
name=
"camera_info_out_topic"
value=
"/$(arg car_name)/sensors/basler_camera_roi/camera_info"
/>
</include>
<!-- Front image inverter -->
<include
file=
"$(find iri_image_inverter)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"front_iri_image_inverter"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<arg
name=
"image_in_topic"
value=
"/$(arg car_name)/sensors/basler_camera_roi/image_raw"
/>
<arg
name=
"image_out_topic"
value=
"/$(arg car_name)/sensors/basler_camera_inverse/image_raw"
/>
</include>
<!-- Front ar track_alvar -->
<node
name=
"front_ar_track_alvar"
pkg=
"ar_track_alvar"
type=
"individualMarkersNoKinect"
respawn=
"false"
output=
"screen"
>
<param
name=
"marker_size"
type=
"double"
value=
"$(arg marker_size)"
/>
<param
name=
"max_frequency"
type=
"double"
value=
"$(arg ar_max_freq)"
/>
<param
name=
"max_new_marker_error"
type=
"double"
value=
"0.08"
/>
<param
name=
"max_track_error"
type=
"double"
value=
"0.2"
/>
<param
name=
"marker_margin"
type=
"double"
value=
"1.0"
/>
<param
name=
"output_frame"
type=
"string"
value=
"$(arg car_name)/front_camera_uvc_camera_optical"
/>
<!--<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" />-->
<remap
from=
"/$(arg car_name)/camera_image"
to=
"/$(arg car_name)/sensors/basler_camera/inverted_image_raw"
/>
<remap
from=
"/$(arg car_name)/camera_info"
to=
"/$(arg car_name)/sensors/basler_camera/camera_info"
/>
<remap
from=
"/$(arg car_name)/camera_image"
to=
"/$(arg car_name)/sensors/basler_camera_inverse/image_raw"
/>
<remap
from=
"/$(arg car_name)/camera_info"
to=
"/$(arg car_name)/sensors/basler_camera_inverse/camera_info"
/>
<remap
from=
"/$(arg car_name)/ar_pose_marker"
to=
"/$(arg car_name)/front_ar_pose_marker"
/>
</node>
...
...
@@ -54,49 +88,47 @@
<arg
name=
"features_output_topic"
value=
"$(arg features_topic_name)"
/>
</include>
<!-- Front image inverter -->
<include
file=
"$(find iri_image_inverter)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"front_iri_image_inverter"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>-->
<arg
name=
"image_in_topic"
value=
"/$(arg car_name)/sensors/basler_camera/image_raw"
/>
<arg
name=
"image_out_topic"
value=
"/$(arg car_name)/sensors/basler_camera/inverted_image_raw"
/>
</include>
<group
if=
"$(arg use_rear_camera_loc)"
>
<!-- Rear image ROI -->
<include
file=
"$(find iri_image_roi)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"rear_iri_image_roi"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<arg
name=
"config_file"
value=
"$(arg rear_roi_config_file)"
/>
<arg
name=
"image_raw_in_topic"
value=
"/$(arg car_name)/sensors/delock_camera/image_raw"
/>
<arg
name=
"camera_info_in_topic"
value=
"/$(arg car_name)/sensors/delock_camera/camera_info"
/>
<arg
name=
"image_raw_out_topic"
value=
"/$(arg car_name)/sensors/delock_camera_roi/image_raw"
/>
<arg
name=
"camera_info_out_topic"
value=
"/$(arg car_name)/sensors/delock_camera_roi/camera_info"
/>
</include>
<!--<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node name="crop_image"
pkg="nodelet"
type="nodelet"
args="load image_proc/crop_decimate standalone_nodelet">
<remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/>
<remap from="camera_out" to="/$(arg car_name)/sensors/basler_camera_cropped"/>
<rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/>
</node>-->
<!-- Rear image inverter -->
<include
file=
"$(find iri_image_inverter)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"rear_iri_image_inverter"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<arg
name=
"image_in_topic"
value=
"/$(arg car_name)/sensors/delock_camera_roi/image_raw"
/>
<arg
name=
"image_out_topic"
value=
"/$(arg car_name)/sensors/delock_camera_inverse/image_raw"
/>
</include>
<group
if=
"$(arg use_rear_camera_loc)"
>
<!--rear ar track_alvar -->
<node
name=
"rear_ar_track_alvar"
pkg=
"ar_track_alvar"
type=
"individualMarkersNoKinect"
respawn=
"false"
output=
"screen"
>
<param
name=
"marker_size"
type=
"double"
value=
"$(arg marker_size)"
/>
<param
name=
"marker_size"
type=
"double"
value=
"$(arg marker_size)"
/>
<param
name=
"max_frequency"
type=
"double"
value=
"$(arg ar_max_freq)"
/>
<param
name=
"max_new_marker_error"
type=
"double"
value=
"0.08"
/>
<param
name=
"max_track_error"
type=
"double"
value=
"0.2"
/>
<param
name=
"marker_margin"
type=
"double"
value=
"1.0"
/>
<param
name=
"output_frame"
type=
"string"
value=
"$(arg car_name)/rear_camera_uvc_camera_optical"
/>
<!--<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/delock_camera_cropped/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/delock_camera_cropped/camera_info" />-->
<remap
from=
"/$(arg car_name)/camera_image"
to=
"/$(arg car_name)/sensors/delock_camera/inverted_image_raw"
/>
<remap
from=
"/$(arg car_name)/camera_info"
to=
"/$(arg car_name)/sensors/delock_camera/camera_info"
/>
<remap
from=
"/$(arg car_name)/camera_image"
to=
"/$(arg car_name)/sensors/delock_camera_inverse/image_raw"
/>
<remap
from=
"/$(arg car_name)/camera_info"
to=
"/$(arg car_name)/sensors/delock_camera_inverse/camera_info"
/>
<remap
from=
"/$(arg car_name)/ar_pose_marker"
to=
"/$(arg car_name)/rear_ar_pose_marker"
/>
</node>
<!--
Front
ar tag filter -->
<!--
Rear
ar tag filter -->
<include
file=
"$(find iri_adc_tag_localization_filter)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"rear_iri_adc_tag_localization_filter"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
...
...
@@ -106,17 +138,6 @@
<arg
name=
"ar_input_topic"
value=
"/$(arg car_name)/rear_ar_pose_marker"
/>
<arg
name=
"features_output_topic"
value=
"$(arg features_topic_name)"
/>
</include>
<!-- Front image inverter -->
<include
file=
"$(find iri_image_inverter)/launch/node.launch"
>
<arg
name=
"node_name"
value=
"rear_iri_image_inverter"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/delock_camera_cropped/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/delock_camera_cropped/inverted_image_raw"/>-->
<arg
name=
"image_in_topic"
value=
"/$(arg car_name)/sensors/delock_camera/image_raw"
/>
<arg
name=
"image_out_topic"
value=
"/$(arg car_name)/sensors/delock_camera/inverted_image_raw"
/>
</include>
</group>
<include
file=
"$(find iri_adc_landmarks_slam_solver)/launch/node.launch"
>
...
...
@@ -132,7 +153,6 @@
<arg
name=
"initial_pose_y"
value=
"$(arg car_y)"
/>
<arg
name=
"initial_pose_yaw"
value=
"$(arg car_yaw)"
/>
</include>
</group>
<include
file=
"$(find iri_rosnav)/launch/include/map_server.launch"
>
...
...
@@ -174,3 +194,4 @@
args=
"iri_adc_tag_localization_filter"
>
</node>
</launch>
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment