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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
5e11d580
Commit
5e11d580
authored
Jun 23, 2021
by
Sergi Hernandez
Browse files
Merge branch 'development' into 'master'
Development See merge request
!2
parents
92c0eaf6
fc6cd438
Changes
7
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config/adc_common/adc_control_config.yaml
View file @
5e11d580
...
@@ -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
:
0.36
62
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
...
...
config/adc_common/adc_odometry_config.yaml
View file @
5e11d580
...
@@ -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
:
0.26
1
wheel_distance
:
0.26
5
axel_distance
:
0.36
62
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
...
...
config/adc_rosnav/local_planner/ackermann_params.yaml
View file @
5e11d580
...
@@ -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
:
0.36
62
axis_distance
:
0.36
wheel_distance
:
0.2
1
6
wheel_distance
:
0.26
5
wheel_radius
:
0.05
wheel_radius
:
0.05
split_ignore_length
:
0.1
split_ignore_length
:
0.1
...
...
config/adc_sim/adc_controller_config.yaml
View file @
5e11d580
...
@@ -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
:
0.36
62
axel_distance
:
0.36
wheel_distance
:
0.2
1
6
wheel_distance
:
0.26
5
wheel_diameter
:
0.100
wheel_diameter
:
0.100
encoder_ticks
:
30
encoder_ticks
:
30
encoder_rate
:
40
encoder_rate
:
40
...
...
config/adc_sim/basler_camera_sim_config.yaml
View file @
5e11d580
...
@@ -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.
00
1
clip_far
:
100
clip_far
:
100
noise_type
:
'
gaussian'
noise_type
:
'
gaussian'
noise_mean
:
0.0
noise_mean
:
0.0
...
...
launch/adc_sim.launch
View file @
5e11d580
...
@@ -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=
"$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"
/>
...
...
launch/adc_sim_env.launch
View file @
5e11d580
...
@@ -17,6 +17,10 @@
...
@@ -17,6 +17,10 @@
<arg
name=
"road_y"
default=
"0.0"
/>
<arg
name=
"road_y"
default=
"0.0"
/>
<arg
name=
"road_yaw"
default=
"0.0"
/>
<arg
name=
"road_yaw"
default=
"0.0"
/>
<arg
name=
"bodywork"
default=
"Fasle"
/>
<arg
name=
"model"
default=
"$(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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