diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
new file mode 100644
index 0000000000000000000000000000000000000000..56f450ee98ce142c95a912618f0c59c80d506138
--- /dev/null
+++ b/launch/adc_global_localization.launch
@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="car_name" default="adc_car"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="dr" default="false"/>
+
+ <!--Ar track alvar parameters-->
+ <arg name="marker_size" default="5.0"/>
+
+ <!-- Global localization parameters-->
+ <arg name="car_x" default="0.0"/>
+ <arg name="car_y" default="0.0"/>
+ <arg name="car_yaw" default="0.0"/>
+ <arg name="global_ekf_config_file" default="$(find iri_adc_launch)/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml"/>
+ <arg name="map_path" default="$(find iri_adc_launch)/maps"/>
+ <arg name="map_name" default="adc_map" />
+ <arg name="amcl_config" default="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
+
+ <!-- Ar track alvar (bringup??) -->
+ <node name="ar_track_alvar"
+ pkg="ar_track_alvar"
+ type="individualMarkersNoKinect"
+ respawn="false"
+ output="screen">
+ <param name="marker_size" type="double" value="$(arg marker_size)" />
+ <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/image_raw" />
+ <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
+ <remap from="/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
+ </node>
+
+ <include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
+ <arg name="node_name" value="iri_adc_tag_localization_filter"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="config_file" value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
+ <arg name="robot_name" value="$(arg car_name)"/>
+ <arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
+ </include>
+
+ <include file="$(find iri_rosnav)/launch/include/map_server.launch">
+ <arg name="ns" value="$(arg car_name)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="map_path" value="$(arg map_path)"/>
+ <arg name="map_name" value="$(arg map_name)"/>
+ <arg name="map_topic" value="/$(arg car_name)/map"/>
+ <arg name="map_service" value="/$(arg car_name)/static_map"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <include file="$(find iri_rosnav)/launch/include/amcl.launch">
+ <arg name="ns" value="$(arg car_name)"/>
+ <arg name="config" value="$(arg amcl_config)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="$(arg car_name)/odom"/>
+ <arg name="base_frame_id" value="$(arg car_name)/base_footprint"/>
+ <arg name="initial_x" value="$(arg car_x)"/>
+ <arg name="initial_y" value="$(arg car_y)"/>
+ <arg name="initial_yaw" value="$(arg car_yaw)"/>
+ <arg name="scan_topic" value="/$(arg car_name)/sensors/scan"/>
+ <arg name="map_service" value="/$(arg car_name)/static_map"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+ <arg name="name" value="$(arg car_name)"/>
+ <arg name="global_ekf_config_file" value="$(arg global_ekf_config_file)"/>
+ <arg name="set_pose_topic" value="/$(arg car_name)/initialpose"/>
+ </include>
+
+ <node name="rqt_reconfigure_iri_adc_tag_localization_filter"
+ pkg ="rqt_reconfigure"
+ type="rqt_reconfigure"
+ if ="$(arg dr)"
+ args="iri_adc_tag_localization_filter">
+ </node>
+</launch>
diff --git a/launch/adc_sign_localization.launch b/launch/adc_sign_localization.launch
deleted file mode 100644
index df8cb4e73393ddcfec50643597999829de8b17cd..0000000000000000000000000000000000000000
--- a/launch/adc_sign_localization.launch
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
- <arg name="car_name" default="adc_car"/>
- <arg name="output" default="screen"/>
- <arg name="launch_prefix" default=""/>
- <arg name="marker_size" default="5.0"/>
- <arg name="dr" default="true"/>
-
- <node name="ar_track_alvar"
- pkg="ar_track_alvar"
- type="individualMarkersNoKinect"
- respawn="false"
- output="screen">
- <param name="marker_size" type="double" value="$(arg marker_size)" />
- <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/image_raw" />
- <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
- <remap from="/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
- </node>
-
- <include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
- <arg name="node_name" value="iri_adc_tag_localization_filter"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- <arg name="config_file" value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
- <arg name="robot_name" value="$(arg car_name)"/>
- <arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
- </include>
-
- <node name="rqt_reconfigure_iri_adc_tag_localization_filter"
- pkg ="rqt_reconfigure"
- type="rqt_reconfigure"
- if ="$(arg dr)"
- args="iri_adc_tag_localization_filter">
- </node>
-</launch>
diff --git a/rviz/localization_global.rviz b/rviz/localization_global.rviz
index 1ddeeab0be1ea0e37739e04ffac64288baa0a1cc..3f0ab03a54d4062df960bf0c87ce0d011684eda6 100644
--- a/rviz/localization_global.rviz
+++ b/rviz/localization_global.rviz
@@ -7,13 +7,12 @@ Panels:
- /Global Options1
- /Models1
- /Sensors1/Sonar1
- - /Odometry1
- /Odometry1/(red)OdomEncoders(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1
- - /Nav1
+ - /Sign_localization1
Splitter Ratio: 0.637188196182251
- Tree Height: 641
+ Tree Height: 794
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -616,7 +615,7 @@ Visualization Manager:
Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
- Enabled: true
+ Enabled: false
Name: Odometry
- Class: rviz/Group
Displays:
@@ -736,6 +735,34 @@ Visualization Manager:
Value: true
Enabled: true
Name: Nav
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /visualization_marker
+ Name: Alvar_marker
+ Namespaces:
+ basic_shapes: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /iri_adc_tag_localization_filter/vis_features
+ Name: Features
+ Namespaces:
+ adc_car/front_camera_uvc_camera_optical_features: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /iri_adc_landmarks_slam_solver/landmarks
+ Name: Landmarks
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Name: Sign_localization
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -764,16 +791,16 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 20.965930938720703
+ Distance: 10.915546417236328
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 3.482712984085083
- Y: 3.961909532546997
- Z: 0.5220368504524231
+ X: 0.22469791769981384
+ Y: -0.055750276893377304
+ Z: 0.03429810702800751
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
@@ -789,10 +816,10 @@ Window Geometry:
collapsed: false
FrontImage:
collapsed: false
- Height: 872
+ Height: 1025
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e00000000000000000000000100000185000003a7fc020000000afb0000001400460072006f006e00740049006d006100670065010000003d000001960000001600fffffffb0000001200520065006100720049006d00610067006501000001d90000020b0000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d00610067006501000003b2000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003ce0000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000456000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage:
collapsed: false
Selection:
@@ -803,6 +830,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1373
+ Width: 1853
X: 67
- Y: 0
+ Y: 27