Commit 2a8b01bb authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Merge branch 'master' into sign_localization

parents 28d34bc4 33c33df9
...@@ -5,7 +5,7 @@ speed_Kd: 0.00 ...@@ -5,7 +5,7 @@ speed_Kd: 0.00
speed_i_max: 20.0 speed_i_max: 20.0
speed_deadband: 0.1 speed_deadband: 0.1
watchdog_time: 0.5 watchdog_time: 0.5
axel_distance: 0.3662 axel_distance: 0.36
max_steer_angle: 0.5 max_steer_angle: 0.5
min_steer_angle: -0.5 min_steer_angle: -0.5
max_speed_control: 20.0 max_speed_control: 20.0
......
...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom" ...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
robot_frame: "adc_car/base_footprint" robot_frame: "adc_car/base_footprint"
encoder_ticks: 30 encoder_ticks: 30
wheel_diameter: 0.100 wheel_diameter: 0.100
wheel_distance: 0.261 wheel_distance: 0.265
axel_distance: 0.3662 axel_distance: 0.36
filter_coeff: 0.3 filter_coeff: 0.3
speed_deadband: 0.1 speed_deadband: 0.1
max_steer_angle: 0.5 max_steer_angle: 0.5
......
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
base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner" base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
OpendriveGlobalPlanner: OpendriveGlobalPlanner:
opendrive_frame: "opendrive"
angle_tol: 0.5 angle_tol: 0.5
dist_tol: 0.3 dist_tol: 0.3
multi_hyp: True multi_hyp: True
......
...@@ -38,8 +38,8 @@ AckermannPlannerROS: ...@@ -38,8 +38,8 @@ AckermannPlannerROS:
max_steer_vel: 0.3 max_steer_vel: 0.3
min_steer_vel: -0.3 min_steer_vel: -0.3
max_steer_acc: 1.0 max_steer_acc: 1.0
axis_distance: 0.3662 axis_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_radius: 0.05 wheel_radius: 0.05
split_ignore_length: 0.1 split_ignore_length: 0.1
......
...@@ -12,8 +12,8 @@ ...@@ -12,8 +12,8 @@
drive_rear_right_joint: base_link_2_rear_right_wheel_joint drive_rear_right_joint: base_link_2_rear_right_wheel_joint
drive_front_left_joint: steer_left_2_front_left_wheel_joint drive_front_left_joint: steer_left_2_front_left_wheel_joint
drive_front_right_joint: steer_right_2_front_right_wheel_joint drive_front_right_joint: steer_right_2_front_right_wheel_joint
axel_distance: 0.3662 axel_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_diameter: 0.100 wheel_diameter: 0.100
encoder_ticks: 30 encoder_ticks: 30
encoder_rate: 40 encoder_rate: 40
......
...@@ -2,7 +2,7 @@ horizontal_fov: 2.25 ...@@ -2,7 +2,7 @@ horizontal_fov: 2.25
width: 1280 width: 1280
height: 960 height: 960
format: 'R8G8B8' format: 'R8G8B8'
clip_near: 0.1 clip_near: 0.001
clip_far: 100 clip_far: 100
noise_type: 'gaussian' noise_type: 'gaussian'
noise_mean: 0.0 noise_mean: 0.0
......
<?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>
...@@ -19,6 +19,12 @@ ...@@ -19,6 +19,12 @@
<arg name="car_y" default="0.0"/> <arg name="car_y" default="0.0"/>
<arg name="car_yaw" 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"> <include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/> <arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/> <arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
...@@ -59,4 +65,16 @@ ...@@ -59,4 +65,16 @@
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" /> <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 $(arg opendrive_yaw) 0 0 map opendrive 100">
</node>
</group>
</launch> </launch>
...@@ -11,6 +11,11 @@ ...@@ -11,6 +11,11 @@
<arg name="car_y" default="0.0"/> <arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/> <arg name="car_yaw" default="0.0"/>
<arg name="bodywork" default="False"/>
<arg name="model" default="$(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"> <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/> <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
...@@ -21,6 +26,7 @@ ...@@ -21,6 +26,7 @@
<arg name="car_y" value="$(arg car_y)"/> <arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/> <arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/> <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="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/> <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/> <arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/> <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
...@@ -17,6 +17,10 @@ ...@@ -17,6 +17,10 @@
<arg name="road_y" default="0.0"/> <arg name="road_y" default="0.0"/>
<arg name="road_yaw" 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="$(find iri_model_car_gazebo)/launch/sim.launch"> <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/> <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
...@@ -27,6 +31,7 @@ ...@@ -27,6 +31,7 @@
<arg name="car_y" value="$(arg car_y)"/> <arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/> <arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/> <arg name="sim_config_path" value="$(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="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="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"/> <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
...@@ -291,9 +291,9 @@ Visualization Manager: ...@@ -291,9 +291,9 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: -999999 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 999999 Min Intensity: 0
Name: LaserScan Name: LaserScan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -629,6 +629,16 @@ Visualization Manager: ...@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false Unreliable: false
Use Timestamp: false Use Timestamp: false
Value: true 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 - Alpha: 1
Axes Length: 1 Axes Length: 1
Axes Radius: 0.10000000149011612 Axes Radius: 0.10000000149011612
...@@ -768,7 +778,7 @@ Window Geometry: ...@@ -768,7 +778,7 @@ Window Geometry:
Height: 872 Height: 872
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 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 QMainWindow State: 000000ff00000000fd0000000400000000000001bb0000030efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000030e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e000000000000000000000001000001850000030efc020000000afb0000001400460072006f006e00740049006d006100670065010000003d000001530000001600fffffffb0000001200520065006100720049006d0061006700650100000196000001b50000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d00610067006501000003b2000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003ce0000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000002110000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage: RearImage:
collapsed: false collapsed: false
Selection: Selection:
...@@ -781,4 +791,4 @@ Window Geometry: ...@@ -781,4 +791,4 @@ Window Geometry:
collapsed: false collapsed: false
Width: 1373 Width: 1373
X: 67 X: 67
Y: 0 Y: 27
...@@ -492,6 +492,16 @@ Visualization Manager: ...@@ -492,6 +492,16 @@ Visualization Manager:
Unreliable: false Unreliable: false
Use Timestamp: false Use Timestamp: false
Value: true 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 - Alpha: 1
Axes Length: 1 Axes Length: 1
Axes Radius: 0.10000000149011612 Axes Radius: 0.10000000149011612
...@@ -677,7 +687,7 @@ Window Geometry: ...@@ -677,7 +687,7 @@ Window Geometry:
Height: 1025 Height: 1025
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 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 QMainWindow State: 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
RearImage: RearImage:
collapsed: false collapsed: false
Selection: Selection:
......
...@@ -629,6 +629,16 @@ Visualization Manager: ...@@ -629,6 +629,16 @@ Visualization Manager:
Unreliable: false Unreliable: false
Use Timestamp: false Use Timestamp: false
Value: true 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 - Alpha: 1
Axes Length: 1 Axes Length: 1
Axes Radius: 0.10000000149011612 Axes Radius: 0.10000000149011612
...@@ -814,7 +824,7 @@ Window Geometry: ...@@ -814,7 +824,7 @@ Window Geometry:
Height: 872 Height: 872
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
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RearImage: RearImage:
collapsed: false collapsed: false
Selection: Selection:
...@@ -827,4 +837,4 @@ Window Geometry: ...@@ -827,4 +837,4 @@ Window Geometry:
collapsed: false collapsed: false
Width: 1373 Width: 1373
X: 67 X: 67
Y: 0 Y: 27
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