Merge branch 'development' into 'master'

Development

See merge request !2

config/adc_common/adc_control_config.yaml

@@ -5,7 +5,7 @@ speed_Kd: 0.00
 speed_i_max: 20.0
 speed_deadband: 0.1
 watchdog_time: 0.5
-axel_distance: 0.3662
+axel_distance: 0.36
 max_steer_angle: 0.5
 min_steer_angle: -0.5
 max_speed_control: 20.0

config/adc_common/adc_odometry_config.yaml

@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
 robot_frame: "adc_car/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.261
-axel_distance: 0.3662
+wheel_distance: 0.265
+axel_distance: 0.36
 filter_coeff: 0.3
 speed_deadband: 0.1
 max_steer_angle: 0.5

config/adc_rosnav/local_planner/ackermann_params.yaml

@@ -38,8 +38,8 @@ AckermannPlannerROS:
   max_steer_vel: 0.3
   min_steer_vel: -0.3
   max_steer_acc: 1.0
-  axis_distance: 0.3662
-  wheel_distance: 0.216
+  axis_distance: 0.36
+  wheel_distance: 0.265
   wheel_radius: 0.05
 
   split_ignore_length: 0.1

config/adc_sim/adc_controller_config.yaml

@@ -12,8 +12,8 @@
     drive_rear_right_joint: base_link_2_rear_right_wheel_joint
     drive_front_left_joint: steer_left_2_front_left_wheel_joint
     drive_front_right_joint: steer_right_2_front_right_wheel_joint
-    axel_distance: 0.3662
-    wheel_distance: 0.216
+    axel_distance: 0.36
+    wheel_distance: 0.265
     wheel_diameter: 0.100
     encoder_ticks: 30
     encoder_rate: 40

config/adc_sim/basler_camera_sim_config.yaml

@@ -2,7 +2,7 @@ horizontal_fov: 2.25
 width: 1280
 height: 960
 format: 'R8G8B8'
-clip_near: 0.1
+clip_near: 0.001
 clip_far: 100
 noise_type: 'gaussian'
 noise_mean: 0.0

launch/adc_sim.launch

@@ -11,6 +11,11 @@
   <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
+  <arg name="bodywork"                    default="Fasle"/>
+  <arg name="model"                       default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+  <arg name="model"                       default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
+
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
     <arg name="name"                       value="adc_car"/>
     <arg name="output"                     value="$(arg output)"/>
@@ -21,6 +26,7 @@
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
     <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="model"                      value="$(arg model)"/>
     <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
     <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
     <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>

launch/adc_sim_env.launch

@@ -17,6 +17,10 @@
   <arg name="road_y"                      default="0.0"/>
   <arg name="road_yaw"                    default="0.0"/>
 
+  <arg name="bodywork"                    default="Fasle"/>
+  <arg name="model"                       default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
+  <arg name="model"                       default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>
+
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
     <arg name="name"                       value="adc_car"/>
     <arg name="output"                     value="$(arg output)"/>
@@ -27,6 +31,7 @@
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
     <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="model"                      value="$(arg model)"/>
     <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
     <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
     <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>