Commit 43cdd222 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Removed old config parameters. Updated rviz config

parent 49a750f5
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
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]
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"
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
default_vx_max: 0.8
default_vx_min: -0.8
default_vw_max: 0.5
default_vw_min: -0.5
...@@ -7,6 +7,9 @@ Panels: ...@@ -7,6 +7,9 @@ Panels:
- /Global Options1 - /Global Options1
- /Models1 - /Models1
- /Sensors1 - /Sensors1
- /Sensors1/Odometry1
- /Sensors1/Odometry1/GroundTruth1/Shape1
- /Sensors1/Odometry1/FusedOdometry1/Shape1
- /Sensors1/Odometry1/Odometry1/Shape1 - /Sensors1/Odometry1/Odometry1/Shape1
Splitter Ratio: 0.6352941393852234 Splitter Ratio: 0.6352941393852234
Tree Height: 794 Tree Height: 794
...@@ -336,7 +339,7 @@ Visualization Manager: ...@@ -336,7 +339,7 @@ Visualization Manager:
Alpha: 1 Alpha: 1
Axes Length: 1 Axes Length: 1
Axes Radius: 0.10000000149011612 Axes Radius: 0.10000000149011612
Color: 0; 0; 255 Color: 114; 159; 207
Head Length: 0.07000000029802322 Head Length: 0.07000000029802322
Head Radius: 0.02500000037252903 Head Radius: 0.02500000037252903
Shaft Length: 0.25 Shaft Length: 0.25
...@@ -345,6 +348,40 @@ Visualization Manager: ...@@ -345,6 +348,40 @@ Visualization Manager:
Topic: /adc_car/odom_ground_truth Topic: /adc_car/odom_ground_truth
Unreliable: false Unreliable: false
Value: true 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 - Angle Tolerance: 0.25
Class: rviz/Odometry Class: rviz/Odometry
Covariance: Covariance:
...@@ -376,7 +413,7 @@ Visualization Manager: ...@@ -376,7 +413,7 @@ Visualization Manager:
Shaft Length: 0.25 Shaft Length: 0.25
Shaft Radius: 0.009999999776482582 Shaft Radius: 0.009999999776482582
Value: Arrow Value: Arrow
Topic: /adc_car/local_odom_combined Topic: /adc_car/odom
Unreliable: false Unreliable: false
Value: true Value: true
Enabled: true Enabled: true
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment