Commit 2a1d3604 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adec competition default config and data

parent 94c78889
......@@ -12,4 +12,4 @@ max_speed_control: 20.0
min_speed_control: -20.0
max_steer_control: 75.0
min_steer_control: -68.0
use_steer_angle_cmd: True
......@@ -8,10 +8,10 @@ confidence_filter_en: False
detection_min_confidence: 126
id_filter_en: True
ids_enabled: "0, 1, 2, 3"
ids_enabled: "1, 2, 3, 4"
time_persistence_filter_en: True
time_persistence_filter_orientation_en: True
time_persistence_filter_en: False
time_persistence_filter_orientation_en: False
time_persistence_alpha_window: 0.15
time_persistence_range_window: 0.2
time_persistence_orientation_th: 0.4
......
......@@ -21,24 +21,24 @@ amcl_localization: False
calculate_covariance: True
publish_tf_map_odom: False
update_problem_rate: 0.001
update_problem_distance: 0.1
update_problem_angle: 0.1
update_problem_rate: 0.00001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: 120
problem_frame_window: 150
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmark_mahalanobis_dist: 4.0
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_filter_orientation_en: False
landmarks_orientation_th: 0.4
landmarks_xodr_scale: 10.0
sensor_sigma_r: 0.1
sensor_sigma_r: 0.3
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxy: 0.2
odom_fth: 0.25
odom_fxyth: 0.25
odom_sigma_min: 0.000001
This diff is collapsed.
road_x: 36.0002
road_y: 42.89
road_yaw: 0.0
road_image_size: 106.86
goals:
- id: goal
x: 8.0
y: 1.3
yaw: 0.0
type: 1
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......@@ -59,7 +59,7 @@
<param name="max_frequency" type="double" value="$(arg ar_max_freq)" />
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="marker_margin" type="double" value="0.714" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_inverse/image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_inverse/camera_info" />
......@@ -110,7 +110,7 @@
<param name="max_frequency" type="double" value="$(arg ar_max_freq)"/>
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="marker_margin" type="double" value="0.714" />
<param name="output_frame" type="string" value="$(arg car_name)/rear_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/delock_camera_inverse/image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/delock_camera_inverse/camera_info" />
......
This source diff could not be displayed because it is too large. You can view the blob instead.
image: adc.pgm
resolution: 0.050000
origin: [-4.600000, -11.7000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
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