Adec competition default config and data

config/adc_common/adc_control_config.yaml

@@ -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

@@ -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

@@ -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.yaml

+road_x: 36.0002
+road_y: 42.89
+road_yaw: 0.0
+road_image_size: 106.86

data/adc/adc_goals.yaml

+goals:
+ - id: goal
+   x: 8.0
+   y: 1.3
+   yaw: 0.0
+   type: 1
+
+

data/adc/landmarks.txt

+101.000000 2.867 0.024 0.785398 2
+102.000000 2.915 0.024 2.3562 2
+103.000000 5.984 0.024 0.785398 2
+104.000000 6.032 0.024 2.3562 2
+105.000000 9.104 0.024 0.785398 2
+106.000000 9.152 0.024 2.3562 2
+107.000000 12.006 3.244 2.3562 2
+108.000000 12.006 3.292 -2.3562 2
+109.000000 12.006 5.976 2.3562 2
+110.000000 12.006 6.024 -2.3562 2
+111.000000 12.006 8.774 2.3562 2
+112.000000 12.006 8.822 -2.3562 2
+113.000000 9.104 12.006 -0.785398 2
+114.000000 9.152 12.006 -2.3562 2
+115.000000 5.984 12.006 -0.785398 2
+116.000000 6.032 12.006 -2.3562 2
+117.000000 2.024 12.006 -0.785398 2
+118.000000 2.072 12.006 -2.3562 2
+119.000000 0.024 8.774 0.785398 2
+120.000000 0.024 8.822 -0.785398 2
+121.000000 0.024 5.976 0.785398 2
+122.000000 0.024 6.024 -0.785398 2
+123.000000 0.024 3.244 0.785398 2
+124.000000 0.024 3.292 -0.785398 2
+125.000000 2.867 2.726 -0.785398 2
+126.000000 2.915 2.726 -2.3562 2
+127.000000 3.624 3.244 0.785398 2
+128.000000 3.624 3.292 -0.785398 2
+129.000000 2.867 3.744 0.785398 2
+130.000000 2.915 3.744 2.3562 2
+131.000000 2.176 3.244 2.3562 2
+132.000000 2.176 3.292 -2.3562 2
+133.000000 5.984 2.496 -0.785398 2
+134.000000 6.032 2.496 -2.3562 2
+135.000000 6.634 3.244 0.785398 2
+136.000000 6.634 3.292 -0.785398 2
+137.000000 5.984 3.929 0.785398 2
+138.000000 6.032 3.929 2.3562 2
+139.000000 5.118 3.244 2.3562 2
+140.000000 5.118 3.292 -2.3562 2
+141.000000 9.104 2.496 -0.785398 2
+142.000000 9.152 2.496 -2.3562 2
+143.000000 9.884 3.244 0.785398 2
+144.000000 9.884 3.292 -0.785398 2
+145.000000 9.104 3.954 0.785398 2
+146.000000 9.152 3.954 2.3562 2
+147.000000 8.866 3.244 2.3562 2
+148.000000 8.866 3.292 -2.3562 2
+149.000000 9.104 8.186 -0.785398 2
+150.000000 9.152 8.186 -2.3562 2
+151.000000 9.854 8.774 0.785398 2
+152.000000 9.854 8.822 -0.785398 2
+153.000000 9.104 9.404 0.785398 2
+154.000000 9.152 9.404 2.3562 2
+155.000000 8.416 8.774 2.3562 2
+156.000000 8.416 8.822 -2.3562 2
+157.000000 5.984 8.066 -0.785398 2
+158.000000 6.032 8.066 -2.3562 2
+159.000000 6.734 8.774 0.785398 2
+160.000000 6.734 8.822 -0.785398 2
+161.000000 5.984 9.514 0.785398 2
+162.000000 6.032 9.514 2.3562 2
+163.000000 5.286 8.774 2.3562 2
+164.000000 5.286 8.822 -2.3562 2
+165.000000 2.867 8.186 -0.785398 2
+166.000000 2.915 8.186 -2.3562 2
+167.000000 3.624 8.774 0.785398 2
+168.000000 3.624 8.822 -0.785398 2
+169.000000 2.867 9.404 0.785398 2
+170.000000 2.915 9.404 2.3562 2
+171.000000 2.186 8.908 2.3562 2
+172.000000 2.186 8.956 -2.3562 2
+173.000000 2.867 5.286 -0.785398 2
+174.000000 2.915 5.286 -2.3562 2
+175.000000 3.624 5.976 0.785398 2
+176.000000 3.624 6.024 -0.785398 2
+177.000000 2.867 6.734 0.785398 2
+178.000000 2.915 6.734 2.3562 2
+179.000000 2.176 5.976 2.3562 2
+180.000000 2.176 6.024 -2.3562 2
+181.000000 5.984 5.286 -0.785398 2
+182.000000 6.032 5.286 -2.3562 2
+183.000000 6.724 5.976 0.785398 2
+184.000000 6.724 6.024 -0.785398 2
+185.000000 5.984 6.714 0.785398 2
+186.000000 6.032 6.714 2.3562 2
+187.000000 5.276 5.976 2.3562 2
+188.000000 5.276 6.024 -2.3562 2
+189.000000 9.256 6.024 0.785398 2
+190.000000 9.304 6.024 2.3562 2
+191.000000 9.256 5.976 -0.785398 2
+192.000000 9.304 5.976 -2.3562 2

launch/adc_global_localization.launch

@@ -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" />

maps/adc/adc.yaml

+image: adc.pgm
+resolution: 0.050000
+origin: [-4.600000, -11.7000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+