Commit 5e11d580 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'development' into 'master'

Development

See merge request !2
parents 92c0eaf6 fc6cd438
...@@ -5,7 +5,7 @@ speed_Kd: 0.00 ...@@ -5,7 +5,7 @@ speed_Kd: 0.00
speed_i_max: 20.0 speed_i_max: 20.0
speed_deadband: 0.1 speed_deadband: 0.1
watchdog_time: 0.5 watchdog_time: 0.5
axel_distance: 0.3662 axel_distance: 0.36
max_steer_angle: 0.5 max_steer_angle: 0.5
min_steer_angle: -0.5 min_steer_angle: -0.5
max_speed_control: 20.0 max_speed_control: 20.0
......
...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom" ...@@ -3,8 +3,8 @@ odom_frame: "adc_car/odom"
robot_frame: "adc_car/base_footprint" robot_frame: "adc_car/base_footprint"
encoder_ticks: 30 encoder_ticks: 30
wheel_diameter: 0.100 wheel_diameter: 0.100
wheel_distance: 0.261 wheel_distance: 0.265
axel_distance: 0.3662 axel_distance: 0.36
filter_coeff: 0.3 filter_coeff: 0.3
speed_deadband: 0.1 speed_deadband: 0.1
max_steer_angle: 0.5 max_steer_angle: 0.5
......
...@@ -38,8 +38,8 @@ AckermannPlannerROS: ...@@ -38,8 +38,8 @@ AckermannPlannerROS:
max_steer_vel: 0.3 max_steer_vel: 0.3
min_steer_vel: -0.3 min_steer_vel: -0.3
max_steer_acc: 1.0 max_steer_acc: 1.0
axis_distance: 0.3662 axis_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_radius: 0.05 wheel_radius: 0.05
split_ignore_length: 0.1 split_ignore_length: 0.1
......
...@@ -12,8 +12,8 @@ ...@@ -12,8 +12,8 @@
drive_rear_right_joint: base_link_2_rear_right_wheel_joint drive_rear_right_joint: base_link_2_rear_right_wheel_joint
drive_front_left_joint: steer_left_2_front_left_wheel_joint drive_front_left_joint: steer_left_2_front_left_wheel_joint
drive_front_right_joint: steer_right_2_front_right_wheel_joint drive_front_right_joint: steer_right_2_front_right_wheel_joint
axel_distance: 0.3662 axel_distance: 0.36
wheel_distance: 0.216 wheel_distance: 0.265
wheel_diameter: 0.100 wheel_diameter: 0.100
encoder_ticks: 30 encoder_ticks: 30
encoder_rate: 40 encoder_rate: 40
......
...@@ -2,7 +2,7 @@ horizontal_fov: 2.25 ...@@ -2,7 +2,7 @@ horizontal_fov: 2.25
width: 1280 width: 1280
height: 960 height: 960
format: 'R8G8B8' format: 'R8G8B8'
clip_near: 0.1 clip_near: 0.001
clip_far: 100 clip_far: 100
noise_type: 'gaussian' noise_type: 'gaussian'
noise_mean: 0.0 noise_mean: 0.0
......
...@@ -11,6 +11,11 @@ ...@@ -11,6 +11,11 @@
<arg name="car_y" default="0.0"/> <arg name="car_y" default="0.0"/>
<arg name="car_yaw" 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="$(find iri_model_car_gazebo)/launch/sim.launch"> <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/> <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
...@@ -21,6 +26,7 @@ ...@@ -21,6 +26,7 @@
<arg name="car_y" value="$(arg car_y)"/> <arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/> <arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/> <arg name="sim_config_path" value="$(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="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="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"/> <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
...@@ -17,6 +17,10 @@ ...@@ -17,6 +17,10 @@
<arg name="road_y" default="0.0"/> <arg name="road_y" default="0.0"/>
<arg name="road_yaw" default="0.0"/> <arg name="road_yaw" default="0.0"/>
<arg name="bodywork" default="Fasle"/>
<arg name="model" default="$(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"> <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/> <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
...@@ -27,6 +31,7 @@ ...@@ -27,6 +31,7 @@
<arg name="car_y" value="$(arg car_y)"/> <arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/> <arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/> <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="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/> <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/> <arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/> <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
......
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