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Commit 3edb8336 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated xodr and landmarks files. Updated nav.rviz

parent d766fd69
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data/lab_test/lab_test.xodr
View file @ 3edb8336
...@@ -43,7 +43,9 @@ ...@@ -43,7 +43,9 @@
<objects> <objects>
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<signals /> <signals>
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<link> <link>
...@@ -153,7 +155,11 @@ ...@@ -153,7 +155,11 @@
</parkingSpace> </parkingSpace>
</object> </object>
</objects> </objects>
<signals /> <signals>
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</road> </road>
<road name="road3" length="2.0029700000000002e+01" id="3" junction="-1"> <road name="road3" length="2.0029700000000002e+01" id="3" junction="-1">
<link> <link>
...@@ -244,7 +250,9 @@ ...@@ -244,7 +250,9 @@
<objects> <objects>
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</objects> </objects>
<signals /> <signals>
<signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road> </road>
<road name="road5" length="2.0029700000000002e+01" id="5" junction="-1"> <road name="road5" length="2.0029700000000002e+01" id="5" junction="-1">
<link> <link>
...@@ -349,7 +357,11 @@ ...@@ -349,7 +357,11 @@
</parkingSpace> </parkingSpace>
</object> </object>
</objects> </objects>
<signals /> <signals>
<signal s="1.8600000000000001e+01" t="-7.4000000000000004e+00" id="111" name="locsign11" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
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<signal s="9.3000000000000007e+00" t="1.2000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road> </road>
<road name="road7" length="2.0029700000000002e+01" id="7" junction="-1"> <road name="road7" length="2.0029700000000002e+01" id="7" junction="-1">
<link> <link>
...@@ -435,7 +447,12 @@ ...@@ -435,7 +447,12 @@
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</objects> </objects>
<signals /> <signals>
<signal s="4.8499999999999996e+00" t="1.1250000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
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</road> </road>
<road name="junction_1_-1_2_-1" length="2.1098453127444021e+01" id="1000" junction="0"> <road name="junction_1_-1_2_-1" length="2.1098453127444021e+01" id="1000" junction="0">
<link> <link>
...@@ -470,7 +487,10 @@ ...@@ -470,7 +487,10 @@
<objects> <objects>
<object s="1.9850000000000001e+01" t="-8.4000000000000004e+00" id="2008" name="wall4" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" /> <object s="1.9850000000000001e+01" t="-8.4000000000000004e+00" id="2008" name="wall4" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects> </objects>
<signals /> <signals>
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<signal s="1.1000000000000001e+00" t="7.4000000000000004e+00" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road> </road>
<road name="junction_2_1_1_1" length="2.1098453127444021e+01" id="1001" junction="0"> <road name="junction_2_1_1_1" length="2.1098453127444021e+01" id="1001" junction="0">
<link> <link>
...@@ -620,7 +640,10 @@ ...@@ -620,7 +640,10 @@
<objects> <objects>
<object s="1.2500000000000000e+00" t="-8.4000000000000004e+00" id="2007" name="wall3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" /> <object s="1.2500000000000000e+00" t="-8.4000000000000004e+00" id="2007" name="wall3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects> </objects>
<signals /> <signals>
<signal s="2.1100000000000001e+01" t="-7.4000000000000004e+00" id="110" name="locsign10" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1100000000000001e+01" t="7.4000000000000004e+00" id="102" name="locsign2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road> </road>
<road name="junction_7_1_6_1" length="2.1100000000000001e+01" id="1005" junction="1"> <road name="junction_7_1_6_1" length="2.1100000000000001e+01" id="1005" junction="1">
<link> <link>
......
data/lab_test/landmarks.txt
View file @ 3edb8336
101.0 1.374 1.0065 -0.7854 2 101.000000 2.473834 1.698838 -0.785396 2
102.0 1.426 1.0065 0.7854 2 102.000000 2.526160 1.698838 0.785401 2
103.0 0.2015 1.484 -0.7854 2 103.000000 1.453837 2.041163 -2.356194 2
104.0 0.2015 1.536 -2.3562 2 104.000000 1.453837 1.988837 -0.785398 2
105.0 1.374 1.9735 -2.3562 2 105.000000 2.526162 2.521164 2.356192 2
106.0 1.426 1.9735 2.3562 2 106.000000 2.473836 2.521164 -2.356197 2
107.0 2.3985 1.484 0.7854 2 107.000000 3.546206 2.098933 0.785480 2
108.0 2.3985 1.536 2.3562 2 108.000000 3.546202 2.151259 2.356277 2
109.0 1.374 2.9115 -0.7854 2 109.000000 2.473839 3.563838 -0.785396 2
110.0 1.426 2.9115 0.7854 2 110.000000 2.526165 3.563838 0.785401 2
111.0 0.6715 4.429 -0.7854 2 111.000000 1.913837 5.081163 -2.356194 2
112.0 0.6715 4.481 -2.3562 2 112.000000 1.913837 5.028837 -0.785398 2
113.0 1.374 5.9985 -2.3562 2 113.000000 2.526173 6.536164 2.356192 2
114.0 1.426 5.9985 2.3562 2 114.000000 2.473847 6.536164 -2.356197 2
115.0 1.5285 4.429 0.7854 2 115.000000 2.686250 5.028989 0.785302 2
116.0 1.5285 4.481 2.3562 2 116.000000 2.686255 5.081315 2.356098 2
117.0 1.374 -0.5215 -2.3562 2 117.000000 2.526163 0.026163 2.356194 2
118.0 1.426 -0.5215 2.3562 2 118.000000 2.473837 0.026163 -2.356194 2
119.0 -1.2215 1.374 0.7854 2 119.000000 0.026163 1.988837 0.785403 2
120.0 -1.2215 1.426 2.3562 2 120.000000 0.026163 2.041163 2.356200 2
121.0 -1.2215 3.374 0.7854 2 121.000000 0.026163 4.098837 0.785403 2
122.0 -1.2215 3.426 2.3562 2 122.000000 0.026163 4.151163 2.356200 2
123.0 -1.2215 5.374 0.7854 2 123.000000 0.026163 5.958837 0.785403 2
124.0 -1.2215 5.426 2.3562 2 124.000000 0.026163 6.011163 2.356200 2
125.0 1.374 7.3215 -0.7854 2 125.000000 2.473839 7.973838 -0.785396 2
126.0 1.426 7.3215 0.7854 2 126.000000 2.526165 7.973838 0.785401 2
127.0 3.8215 1.374 -0.7854 2 127.000000 4.974019 6.011094 -2.356291 2
128.0 3.8215 1.426 -2.3562 2 128.000000 4.974014 5.958768 -0.785494 2
129.0 3.8215 3.374 -0.7854 2 129.000000 4.973840 4.151094 -2.356291 2
130.0 3.8215 3.426 -2.3562 2 130.000000 4.973835 4.098768 -0.785494 2
131.0 3.8215 5.374 -0.7854 2 131.000000 4.973885 2.041376 -2.356112 2
132.0 3.8215 5.426 -2.3562 2 132.000000 4.973889 1.989050 -0.785316 2
data/sample_parking/landmarks.txt
View file @ 3edb8336
0.0 0.0 -0.5 0.0 0 101.000000 1.223837 0.973837 -0.785398 2
1.0 8.5 1.5 1.57 0 102.000000 1.276163 0.973837 0.785398 2
2.0 7.5 6.6 -1.57 0 103.000000 -0.026163 2.526163 -2.356194 2
3.0 7.5 4.0 1.57 0 104.000000 -0.026163 2.473837 -0.785398 2
4.0 -1.5 6.5 -1.57 0 105.000000 -0.026163 5.526163 -2.356194 2
5.0 -0.5 1.5 1.57 0 106.000000 -0.026163 5.473837 -0.785398 2
6.0 4.0 4.2 1.57 0 107.000000 1.276163 7.026163 2.356194 2
7.0 4.0 7.0 1.57 0 108.000000 1.223837 7.026163 -2.356194 2
8.0 3.0 1.0 -1.57 0 109.000000 2.526163 5.473837 0.785398 2
9.0 4.0 1.5 1.57 0 110.000000 2.526163 5.526163 2.356194 2
10.0 3.0 6.5 -1.57 0 111.000000 2.526163 2.473837 0.785398 2
11.0 4.0 5.8 -1.57 0 112.000000 2.526163 2.526163 2.356194 2
12.0 2.6 -0.5 3.14 0 113.000000 5.723837 0.973837 -0.785398 2
101.0 0.7 0.99 1.57 2 114.000000 5.776163 0.973837 0.785398 2
102.0 1.7 0.99 1.57 2 115.000000 4.473837 2.526163 -2.356194 2
104.0 -0.01 2.5 0.0 2 116.000000 4.473837 2.473837 -0.785398 2
105.0 -0.01 3.5 0.0 2 117.000000 5.776163 4.026163 2.356194 2
106.0 -0.01 4.5 0.0 2 118.000000 5.723837 4.026163 -2.356194 2
107.0 -0.01 5.5 0.0 2 119.000000 7.026163 2.473837 0.785398 2
108.0 -0.01 6.5 0.0 2 120.000000 7.026163 2.526163 2.356194 2
109.0 0.7 7.01 -1.57 2 121.000000 5.776163 -0.923837 2.356194 2
110.0 1.7 7.01 -1.57 2 122.000000 5.723837 -0.923837 -2.356194 2
111.0 2.51 1.5 3.14 2 123.000000 3.526163 -0.923837 2.356194 2
112.0 2.51 2.5 3.14 2 124.000000 3.473837 -0.923837 -2.356194 2
113.0 2.51 3.5 3.14 2 125.000000 1.276163 -0.923837 2.356194 2
114.0 2.51 4.5 3.14 2 126.000000 1.223837 -0.923837 -2.356194 2
115.0 2.51 5.5 3.14 2 127.000000 -1.923837 2.473837 0.785403 2
117.0 6.3 0.99 1.57 2 128.000000 -1.923837 2.526163 2.356200 2
118.0 5.3 0.99 1.57 2 129.000000 -1.923837 5.473837 0.785403 2
120.0 4.49 2.5 0.0 2 130.000000 -1.923837 5.526163 2.356200 2
121.0 4.49 3.5 0.0 2 131.000000 1.223837 8.923837 -0.785393 2
122.0 6.3 4.01 -1.57 2 132.000000 1.276163 8.923837 0.785403 2
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124.0 7.01 1.5 3.14 2 134.000000 3.526163 8.923837 0.785403 2
125.0 7.01 2.5 3.14 2 135.000000 5.723837 8.923837 -0.785393 2
126.0 7.01 3.5 3.14 2 136.000000 5.776163 8.923837 0.785403 2
127.0 -1.0 -0.94 -1.57 2 137.000000 8.923837 5.526163 -2.356194 2
129.0 1.0 -0.94 -1.57 2 138.000000 8.923837 5.473837 -0.785398 2
130.0 2.0 -0.94 -1.57 2 139.000000 8.923837 2.526163 -2.356194 2
131.0 3.0 -0.94 -1.57 2 140.000000 8.923837 2.473837 -0.785398 2
132.0 4.0 -0.94 -1.57 2 1001.000000 0.000000 -0.500000 -1.570796 0
133.0 5.0 -0.94 -1.57 2 1031.000000 8.500000 1.500000 0.000000 0
134.0 6.0 -0.94 -1.57 2 1032.000000 7.500000 6.600000 -3.141593 0
135.0 7.0 -0.94 -1.57 2 1033.000000 7.500000 4.000000 0.000000 0
136.0 8.0 -0.94 -1.57 2 1081.000000 -1.500000 6.500000 -3.141587 0
137.0 -1.0 8.94 1.57 2 1082.000000 -0.500000 1.500000 -0.000000 0
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140.0 2.0 8.94 1.57 2 1103.000000 3.000000 1.000000 -3.141593 0
141.0 3.0 8.94 1.57 2 1104.000000 4.000000 1.500000 0.000000 0
142.0 4.0 8.94 1.57 2 1105.000000 3.000000 6.500000 -3.141593 0
143.0 5.0 8.94 1.57 2 1106.000000 4.000000 5.800000 -3.141593 0
144.0 6.0 8.94 1.57 2 1111.000000 2.600000 -0.500000 1.570796 0
145.0 7.0 8.94 1.57 2
146.0 8.0 8.94 1.57 2
147.0 -1.94 0.0 3.14 2
148.0 -1.94 1.0 3.14 2
149.0 -1.94 2.0 3.14 2
150.0 -1.94 3.0 3.14 2
151.0 -1.94 4.0 3.14 2
152.0 -1.94 5.0 3.14 2
153.0 -1.94 6.0 3.14 2
154.0 -1.94 7.0 3.14 2
155.0 -1.94 8.0 3.14 2
156.0 8.94 0.0 0.0 2
157.0 8.94 1.0 0.0 2
158.0 8.94 2.0 0.0 2
159.0 8.94 3.0 0.0 2
160.0 8.94 4.0 0.0 2
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162.0 8.94 6.0 0.0 2
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data/sample_parking/sample_parking.xodr
View file @ 3edb8336
...@@ -64,7 +64,9 @@ ...@@ -64,7 +64,9 @@
</object> </object>
</objects> </objects>
<signals> <signals>
<signal s="0.0000000000000000e+00" t="-6.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" /> <signal s="0.0000000000000000e+00" t="-5.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals> </signals>
</road> </road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1"> <road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
...@@ -107,7 +109,10 @@ ...@@ -107,7 +109,10 @@
</laneSection> </laneSection>
</lanes> </lanes>
<objects /> <objects />
<signals /> <signals>
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</signals>
</road> </road>
<road name="road2" length="1.5707963270000000e+01" id="2" junction="-1"> <road name="road2" length="1.5707963270000000e+01" id="2" junction="-1">
<link> <link>
...@@ -219,9 +224,12 @@ ...@@ -219,9 +224,12 @@
</object> </object>
</objects> </objects>
<signals> <signals>
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<road name="road6" length="2.5000000000000000e+01" id="6" junction="-1"> <road name="road6" length="2.5000000000000000e+01" id="6" junction="-1">
<link> <link>
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<link> <link>
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<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1"> <road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
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</road> </road>
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<signals /> <signals>
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</road> </road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2"> <road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link> <link>
......
rviz/nav.rviz
View file @ 3edb8336
...@@ -6,13 +6,11 @@ Panels: ...@@ -6,13 +6,11 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Models1 - /Models1
- /Sensors1
- /Sensors1/Sonar1 - /Sensors1/Sonar1
- /Sensors1/outliers_scan1 - /Sensors1/outliers_scan1
- /Odometry1/(red)OdomEncoders(1)1/Shape1 - /Odometry1/(red)OdomEncoders(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1 - /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1 - /Odometry1/(green)OdomCombinedLocal1/Shape1
- /Nav1
Splitter Ratio: 0.637188196182251 Splitter Ratio: 0.637188196182251
Tree Height: 794 Tree Height: 794
- Class: rviz/Selection - Class: rviz/Selection
...@@ -91,6 +89,11 @@ Visualization Manager: ...@@ -91,6 +89,11 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
bodywork:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_camera_uvc_camera_base: front_camera_uvc_camera_base:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
...@@ -293,9 +296,7 @@ Visualization Manager: ...@@ -293,9 +296,7 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan Name: LaserScan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -323,9 +324,7 @@ Visualization Manager: ...@@ -323,9 +324,7 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0
Name: inliers_scan Name: inliers_scan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -353,9 +352,7 @@ Visualization Manager: ...@@ -353,9 +352,7 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 193; 125; 17 Max Color: 193; 125; 17
Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0
Name: outliers_scan Name: outliers_scan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -830,6 +827,42 @@ Visualization Manager: ...@@ -830,6 +827,42 @@ Visualization Manager:
Value: true Value: true
Enabled: true Enabled: true
Name: Nav Name: Nav
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/front_iri_adc_tag_localization_filter/vis_features
Name: Front_features
Namespaces:
adc_car/front_camera_uvc_camera_optical_features: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/rear_iri_adc_tag_localization_filter/vis_features
Name: Rear_features
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/landmarks
Name: Landmarks
Namespaces:
landmarks: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/frame_data
Name: Frame_data
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: Landmarks_localization
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
......
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