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Commit 2a1d3604 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Adec competition default config and data

parent 94c78889
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config/adc_common/adc_control_config.yaml
View file @ 2a1d3604
......@@ -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
config/adc_common/ar_tag_loc_filter.yaml
View file @ 2a1d3604
......@@ -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
......
config/adc_common/landmarks_loc/localization.yaml
View file @ 2a1d3604
......@@ -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
data/adc/adc.xodr 0 → 100644
View file @ 2a1d3604
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