diff --git a/config/adc_common/adc_control_config.yaml b/config/adc_common/adc_control_config.yaml
index cc0a54c53d5b0eb7b75aab3f536c9004f9bf3d45..2538247f2eb068089b4c2c9293b0eebd8fc8069c 100644
--- a/config/adc_common/adc_control_config.yaml
+++ b/config/adc_common/adc_control_config.yaml
@@ -5,7 +5,7 @@ speed_Kd: 0.00
speed_i_max: 20.0
speed_deadband: 0.1
watchdog_time: 0.5
-axel_distance: 0.3662
+axel_distance: 0.36
max_steer_angle: 0.5
min_steer_angle: -0.5
max_speed_control: 20.0
diff --git a/config/adc_common/adc_odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml
index 4a4f9a72b57244ecc495a8ed3c5b894fa8aeba2b..0bab7ea50968c298516f9e88da73d938089c060f 100644
--- a/config/adc_common/adc_odometry_config.yaml
+++ b/config/adc_common/adc_odometry_config.yaml
@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
robot_frame: "adc_car/base_footprint"
encoder_ticks: 30
wheel_diameter: 0.100
-wheel_distance: 0.261
-axel_distance: 0.3662
+wheel_distance: 0.265
+axel_distance: 0.36
filter_coeff: 0.3
speed_deadband: 0.1
max_steer_angle: 0.5
diff --git a/config/adc_common/tf_map_opendrive.yaml b/config/adc_common/tf_map_opendrive.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b2da5352961b9f7b319e84751ebf2294d4a9e2bc
--- /dev/null
+++ b/config/adc_common/tf_map_opendrive.yaml
@@ -0,0 +1,10 @@
+broadcast: True
+parent_id: 'map'
+frame_id: 'opendrive'
+period: 100
+x: 0.0
+y: 0.0
+z: 0.0
+roll: 0.0
+pitch: 0.0
+yaw: 0.0
diff --git a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
index 6aaa42b8b930d49938fcd2b6ee5ecf953bd2c0fa..45e7c0e11bbb974e4e007f8c1aa95f133b3227e5 100644
--- a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
+++ b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
@@ -1,5 +1,6 @@
base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
OpendriveGlobalPlanner:
+ opendrive_frame: "opendrive"
angle_tol: 0.5
dist_tol: 0.3
multi_hyp: True
diff --git a/config/adc_rosnav/local_planner/ackermann_params.yaml b/config/adc_rosnav/local_planner/ackermann_params.yaml
index 006cc8420147e3635f1ac32fb10921b428ad8ec2..0286e32dd749cc56f9029b7a7be71294e795b73b 100644
--- a/config/adc_rosnav/local_planner/ackermann_params.yaml
+++ b/config/adc_rosnav/local_planner/ackermann_params.yaml
@@ -38,8 +38,8 @@ AckermannPlannerROS:
max_steer_vel: 0.3
min_steer_vel: -0.3
max_steer_acc: 1.0
- axis_distance: 0.3662
- wheel_distance: 0.216
+ axis_distance: 0.36
+ wheel_distance: 0.265
wheel_radius: 0.05
split_ignore_length: 0.1
diff --git a/config/adc_sim/adc_controller_config.yaml b/config/adc_sim/adc_controller_config.yaml
index 1469ace0b0d37c18be5c2c467ed63db7cfdb63f7..dc8a5b17eebb429f463f34d9d253cd8c90e42de8 100644
--- a/config/adc_sim/adc_controller_config.yaml
+++ b/config/adc_sim/adc_controller_config.yaml
@@ -12,8 +12,8 @@
drive_rear_right_joint: base_link_2_rear_right_wheel_joint
drive_front_left_joint: steer_left_2_front_left_wheel_joint
drive_front_right_joint: steer_right_2_front_right_wheel_joint
- axel_distance: 0.3662
- wheel_distance: 0.216
+ axel_distance: 0.36
+ wheel_distance: 0.265
wheel_diameter: 0.100
encoder_ticks: 30
encoder_rate: 40
diff --git a/config/adc_sim/basler_camera_sim_config.yaml b/config/adc_sim/basler_camera_sim_config.yaml
index 2fbe6d5fc1db8b3a404dd50f94abcf1cac8cb416..78ac782b675d9cd71c4298ba778f2985f4ef65f7 100644
--- a/config/adc_sim/basler_camera_sim_config.yaml
+++ b/config/adc_sim/basler_camera_sim_config.yaml
@@ -2,7 +2,7 @@ horizontal_fov: 2.25
width: 1280
height: 960
format: 'R8G8B8'
-clip_near: 0.1
+clip_near: 0.001
clip_far: 100
noise_type: 'gaussian'
noise_mean: 0.0
diff --git a/launch/adc_ar_detector_inverse.launch b/launch/adc_ar_detector_inverse.launch
new file mode 100644
index 0000000000000000000000000000000000000000..90d0c55f0bbe52b8ef51d766782b3d919ec432aa
--- /dev/null
+++ b/launch/adc_ar_detector_inverse.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="car_name" default="adc_car"/>
+ <arg name="marker_size" default="5.0"/>
+ <arg name="marker_margin" default="1.0"/>
+
+ <include file="$(find iri_image_inverter)/launch/node.launch">
+ <arg name="node_name" value="iri_image_inverter_basler"/>
+ <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
+ <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_inverse/image_raw"/>
+ </include>
+
+ <node name="ar_track_alvar_inverse"
+ pkg="ar_track_alvar"
+ type="individualMarkersNoKinect"
+ respawn="false"
+ output="screen">
+ <param name="marker_size" type="double" value="$(arg marker_size)" />
+ <param name="marker_margin" type="double" value="$(arg marker_margin)" />
+ <param name="max_new_marker_error" type="double" value="0.08" />
+ <param name="max_track_error" type="double" value="0.2" />
+ <param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
+ <remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera_inverse/image_raw" />
+ <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera_inverse/camera_info" />
+ </node>
+
+</launch>
diff --git a/launch/adc_navigation.launch b/launch/adc_navigation.launch
index c5407d655d58ff287a516bab78aa6636c571c125..a6c7a231ec1aea5c1b5e45bdc70f7c10fb0b004d 100644
--- a/launch/adc_navigation.launch
+++ b/launch/adc_navigation.launch
@@ -19,6 +19,12 @@
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
+ <arg name="calib_tf_map_opendrive" default="false"/>
+ <arg name="opendrive_x" default="0.0"/>
+ <arg name="opendrive_y" default="0.0"/>
+ <arg name="opendrive_yaw" default="0.0"/>
+ <arg name="tf_map_opendrive_file" default="$(find iri_adc_launch)/config/adc_common/tf_map_opendrive.yaml"/>
+
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
@@ -59,4 +65,16 @@
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
+ <group if="$(arg calib_tf_map_opendrive)">
+ <include file="$(find iri_dynamic_transform_publisher)/launch/node.launch">
+ <arg name="node_name" value="$(arg name)_tf_map_opendrive_pub"/>
+ <arg name="params_path" value="$(arg tf_map_opendrive_file)"/>
+ </include>
+ </group>
+
+ <group unless="$(arg calib_tf_map_opendrive)">
+ <node name="static_tf_map_to_opendrive" pkg="tf" type="static_transform_publisher"
+ args="$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100">
+ </node>
+ </group>
</launch>
diff --git a/launch/adc_sim.launch b/launch/adc_sim.launch
index 7092be1d0358d84bb747ff343c707a04d8a9db6d..b7f24260be1cd7b64c6889e61d28167d305cca35 100644
--- a/launch/adc_sim.launch
+++ b/launch/adc_sim.launch
@@ -11,6 +11,11 @@
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
+ <arg name="bodywork" default="False"/>
+ <arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+ <arg name="model" default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
+
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
@@ -21,6 +26,7 @@
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
+ <arg name="model" value="$(arg model)"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
diff --git a/launch/adc_sim_env.launch b/launch/adc_sim_env.launch
index 578ddde76cbbb5a8dab338aa04ae7184953c5b9b..db9999927f2a08bb1ae7f1b78405fc2432241569 100644
--- a/launch/adc_sim_env.launch
+++ b/launch/adc_sim_env.launch
@@ -17,6 +17,10 @@
<arg name="road_y" default="0.0"/>
<arg name="road_yaw" default="0.0"/>
+ <arg name="bodywork" default="False"/>
+ <arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+ <arg name="model" default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
@@ -27,6 +31,7 @@
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
+ <arg name="model" value="$(arg model)"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
diff --git a/rviz/localization_local.rviz b/rviz/localization_local.rviz
index 4f2ec8c65440d7250692ade96f4b0fe93be49940..6935a49a5c6289d99f7422333aede7bd7e597999 100644
--- a/rviz/localization_local.rviz
+++ b/rviz/localization_local.rviz
@@ -291,9 +291,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: -999999
+ Max Intensity: 0
Min Color: 0; 0; 0
- Min Intensity: 999999
+ Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: OpendriveMap
+ Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
@@ -768,7 +778,7 @@ Window Geometry:
Height: 872
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
RearImage:
collapsed: false
Selection:
@@ -781,4 +791,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
- Y: 0
+ Y: 27
diff --git a/rviz/mapping.rviz b/rviz/mapping.rviz
index 1c44bcf805ae2b996e2f7807380a81df0476bcf9..a1626faa7fb83f935164969b5c95e4fc6cac2cd4 100644
--- a/rviz/mapping.rviz
+++ b/rviz/mapping.rviz
@@ -492,6 +492,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: OpendriveMap
+ Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
@@ -677,7 +687,7 @@ Window Geometry:
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
RearImage:
collapsed: false
Selection:
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 0b8c1bfa3c61b3c21fd19225d72d10ea2164f6e0..4230645b381d9e5921e0dfd8bc45ae8877dbaa48 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: OpendriveMap
+ Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
@@ -814,7 +824,7 @@ Window Geometry:
Height: 872
Hide Left Dock: false
Hide Right Dock: false
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RearImage:
collapsed: false
Selection:
@@ -827,4 +837,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
- Y: 0
+ Y: 27