Updated the delock camera configuration in simulation.

config/adc_common/adc_local_ekf_odom_imu.yaml

@@ -21,17 +21,6 @@ odom0_config: [false, false, false,
                false, false, true,
                false, false, false]
 
-#imu0: /adc_car/sensors/imu_data
-#imu0_config: [false, false, false,
-#              false, false, true,
-#              false, false, false,
-#              false, false, false,
-#              false, false, false]
-
-#imu0_differential: false
-#imu0_relative: true
-#imu0_remove_gravitational_acceleration: true
-
 imu0: /adc_car/sensors/imu
 imu0_config: [false, false, false,
               false, false, false,

config/adc_sim/delock_camera_sim_config.yaml

 horizontal_fov: 1.4 
-width: 1024
-height: 768
+width: 1280
+height: 960
 format: 'R8G8B8'
 clip_near: 0.1
 clip_far: 100

data/lab_test/landmarks.txt

+101.0 1.374 1.0065 -0.7854 2
+102.0 1.426 1.0065 0.7854 2
+103.0 0.2015 1.484 -0.7854 2
+104.0 0.2015 1.536 -2.3562 2
+105.0 1.374 1.9735 -2.3562 2
+106.0 1.426 1.9735 2.3562 2
+107.0 2.3985 1.484 0.7854 2
+108.0 2.3985 1.536 2.3562 2
+109.0 1.374 2.9115 -0.7854 2
+110.0 1.426 2.9115 0.7854 2
+111.0 0.6715 4.429 -0.7854 2
+112.0 0.6715 4.481 -2.3562 2
+113.0 1.374 5.9985 -2.3562 2
+114.0 1.426 5.9985 2.3562 2
+115.0 1.5285 4.429 0.7854 2
+116.0 1.5285 4.481 2.3562 2
+117.0 1.374 -0.5215 -2.3562 2
+118.0 1.426 -0.5215 2.3562 2
+119.0 -1.2215 1.374 0.7854 2
+120.0 -1.2215 1.426 2.3562 2
+121.0 -1.2215 3.374 0.7854 2
+122.0 -1.2215 3.426 2.3562 2
+123.0 -1.2215 5.374 0.7854 2
+124.0 -1.2215 5.426 2.3562 2
+125.0 1.374 7.3215 -0.7854 2
+126.0 1.426 7.3215 0.7854 2
+127.0 3.8215 1.374 -0.7854 2
+128.0 3.8215 1.426 -2.3562 2
+129.0 3.8215 3.374 -0.7854 2
+130.0 3.8215 3.426 -2.3562 2
+131.0 3.8215 5.374 -0.7854 2
+132.0 3.8215 5.426 -2.3562 2

maps/lab_test/lab_test.yaml

+image: /home/adc/iri_team_ws/src/iri_adc_launch/maps/lab_test/lab_test.pgm
+resolution: 0.050000
+origin: [-5.000000, -5.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+