diff --git a/config/adc_car_control_params.yaml b/config/adc_car_control_params.yaml deleted file mode 100644 index a97da440fcada61154ebef6aba730546a6e4c565..0000000000000000000000000000000000000000 --- a/config/adc_car_control_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ -rate: 40 -speed_Kp: 20.0 -speed_Ki: 10.0 -speed_Kd: 0.05 -speed_i_max: 20.0 -watchdog_time: 0.5 -axel_distance: 0.3662 -max_steer_angle: 0.4 -min_steer_angle: -0.4 -max_speed_control: 20.0 -min_speed_control: -20.0 -max_steer_control: 100.0 -min_steer_control: -100.0 - diff --git a/config/adc_car_local_ekf.yaml b/config/adc_car_local_ekf.yaml deleted file mode 100644 index 9b52c7950ee062e36ba9667bd37e2779d9957a0a..0000000000000000000000000000000000000000 --- a/config/adc_car_local_ekf.yaml +++ /dev/null @@ -1,39 +0,0 @@ -frequency: 30 -sensor_timeout: 1.0 -transform_time_offset: 0.0 -two_d_mode: true -print_diagnostics: true -debug: false -debug_out_file: /tmp/debug_ekf_localization.txt -use_control: false -control_config: [true, false, false, false, false, true] - -publish_tf: true -map_frame: map -odom_frame: adc_car/odom -base_link_frame: adc_car/base_footprint -world_frame: adc_car/odom - -odom0: /adc_car/odom -odom0_config: [false, false, false, - false, false, false, - true, false, false, - false, false, true, - false, false, false] - -imu0: /adc_car/sensors/imu_enu -imu0_config: [false, false, false, - false, false, true, - false, false, false, - false, false, true, - false, false, false] - -imu0_differential: false -imu0_relative: true -imu0_remove_gravitational_acceleration: true - -#meaning_config: [x, y, z, -# roll, pitch, yaw, -# vx, vy, vz, -# vroll, vpitch, vyaw, -# ax, ay, az] diff --git a/config/adc_car_mux.yaml b/config/adc_car_mux.yaml deleted file mode 100644 index 95d661448ef12372bfae847a7d8d8850f5a8c856..0000000000000000000000000000000000000000 --- a/config/adc_car_mux.yaml +++ /dev/null @@ -1,20 +0,0 @@ -subscribers: - - name: "Default input" - topic: "/adc_car/default/cmd_vel" - timeout: 0.1 - priority: 0 - short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here" - - - name: "Navigation stack" - topic: "/adc_car/navigation/cmd_vel" - timeout: 0.5 - priority: 5 - short_desc: "Navigation stack controller" - - - name: "Teleop" - topic: "/adc_car/teleop/cmd_vel" - timeout: 0.1 - priority: 10 - short_desc: "Teleoperation" - -publisher: "/adc_car/cmd_vel" diff --git a/config/adc_car_odometry_params_no_tf.yaml b/config/adc_car_odometry_params_no_tf.yaml deleted file mode 100644 index 51d40272c609cdf0744fdd511930458183c9b1e5..0000000000000000000000000000000000000000 --- a/config/adc_car_odometry_params_no_tf.yaml +++ /dev/null @@ -1,14 +0,0 @@ -rate: 40 -odom_frame: "adc_car/odom" -robot_frame: "adc_car/base_footprint" -encoder_ticks: 60 -wheel_diameter: 0.100 -wheel_distance: 0.216 -axel_distance: 0.3662 -filter_coeff: 0.75 -max_steer_angle: 0.4 -min_steer_angle: -0.4 -max_steer_control: 100.0 -min_steer_control: -100.0 -publish_tf: False - diff --git a/config/teleop_config.yaml b/config/teleop_config.yaml deleted file mode 100644 index c4e1139feba2ea3fb31830498077470506672843..0000000000000000000000000000000000000000 --- a/config/teleop_config.yaml +++ /dev/null @@ -1,5 +0,0 @@ -default_vx_max: 0.8 -default_vx_min: -0.8 -default_vw_max: 0.5 -default_vw_min: -0.5 - diff --git a/rviz/adc_car.rviz b/rviz/adc_car.rviz index 2168f59d2b019f6fd06c3b148fa3d4644f2a51dc..5828a85d4f10549915b95b546d327c27627f06cf 100644 --- a/rviz/adc_car.rviz +++ b/rviz/adc_car.rviz @@ -7,6 +7,9 @@ Panels: - /Global Options1 - /Models1 - /Sensors1 + - /Sensors1/Odometry1 + - /Sensors1/Odometry1/GroundTruth1/Shape1 + - /Sensors1/Odometry1/FusedOdometry1/Shape1 - /Sensors1/Odometry1/Odometry1/Shape1 Splitter Ratio: 0.6352941393852234 Tree Height: 794 @@ -336,7 +339,7 @@ Visualization Manager: Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 - Color: 0; 0; 255 + Color: 114; 159; 207 Head Length: 0.07000000029802322 Head Radius: 0.02500000037252903 Shaft Length: 0.25 @@ -345,6 +348,40 @@ Visualization Manager: Topic: /adc_car/odom_ground_truth Unreliable: false Value: true + - Angle Tolerance: 0.25 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1000 + Name: FusedOdometry + Position Tolerance: 0.25 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 252; 233; 79 + Head Length: 0.07000000029802322 + Head Radius: 0.02500000037252903 + Shaft Length: 0.25 + Shaft Radius: 0.009999999776482582 + Value: Arrow + Topic: /adc_car/local_odom_combined + Unreliable: false + Value: true - Angle Tolerance: 0.25 Class: rviz/Odometry Covariance: @@ -376,7 +413,7 @@ Visualization Manager: Shaft Length: 0.25 Shaft Radius: 0.009999999776482582 Value: Arrow - Topic: /adc_car/local_odom_combined + Topic: /adc_car/odom Unreliable: false Value: true Enabled: true