diff --git a/config/adc_car_global_ekf.yaml b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
similarity index 77%
rename from config/adc_car_global_ekf.yaml
rename to config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
index c6b8455eb0e9a7e2c59f2d5f20f362f49876a66b..5a0b325c2fe7c14f69b478567035c3ce40e2b788 100644
--- a/config/adc_car_global_ekf.yaml
+++ b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
@@ -5,7 +5,9 @@ two_d_mode: true
print_diagnostics: true
debug: false
debug_out_file: /tmp/debug_ekf_localization.txt
-use_control: false
+use_control: true
+control_config: [true, true, false, false, false, true]
+
publish_tf: true
map_frame: map
@@ -16,19 +18,19 @@ world_frame: map
odom0: /adc_car/odom
odom0_config: [false, false, false,
false, false, false,
- true, true, false,
+ true, false, false,
false, false, true,
false, false, false]
-#imu0: /adc_car/sensors/imu_enu
-#imu0_config: [false, false, false,
-# false, false, false,
-# false, false, false,
-# false, false, true,
-# true, false, false]
+imu0: /adc_car/sensors/imu_data
+imu0_config: [false, false, false,
+ false, false, false,
+ false, false, false,
+ false, false, true,
+ false, false, false]
-#imu0_differential: false
-#imu0_relative: true
+imu0_differential: false
+imu0_relative: true
#imu0_remove_gravitational_acceleration: true
pose0: /adc_car/amcl_pose
diff --git a/config/adc_rosnav/amcl_no_tf.yaml b/config/adc_rosnav/amcl_no_tf.yaml
index 98d6e7c7387bbf82a459c9256d93ea6d8a829e2b..af186aff3add7636a5cb6198c31e8f26d9a8d1b7 100644
--- a/config/adc_rosnav/amcl_no_tf.yaml
+++ b/config/adc_rosnav/amcl_no_tf.yaml
@@ -1,7 +1,7 @@
#frames defined in amc.launch
#map_frame_id: map
-#odom_frame_id: model_car/odom
-#base_frame_id: model_car/base_footprint
+#odom_frame_id: adc_car/odom
+#base_frame_id: adc_car/base_footprint
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0
diff --git a/config/adc_rosnav/local_planner/dwa_params.yaml b/config/adc_rosnav/local_planner/dwa_params.yaml
index c9d22a16f08f8b3f1c048a423ed78d0170ac0b2d..0def2b5e9c83a62f6a630d8def950ca2c6075464 100644
--- a/config/adc_rosnav/local_planner/dwa_params.yaml
+++ b/config/adc_rosnav/local_planner/dwa_params.yaml
@@ -50,5 +50,5 @@ DWAPlannerROS:
#not in dynamic reconfigure
publish_traj_pc: false
- global_frame_id: model_car/odom
+ global_frame_id: adc_car/odom
publish_cost_grid_pc: false
diff --git a/launch/adc_sim_navigation.launch b/launch/adc_navigation.launch
similarity index 74%
rename from launch/adc_sim_navigation.launch
rename to launch/adc_navigation.launch
index 8a69d7c0262e2f8cb5ce4b02c7f92dd8d7d33cc0..58f18fa94c35b02f2cecc2828d4f025c34a15433 100644
--- a/launch/adc_sim_navigation.launch
+++ b/launch/adc_navigation.launch
@@ -2,22 +2,29 @@
<!-- -->
<launch>
- <arg name="name" default="adc_car"/>
- <arg name="output" default="screen"/>
- <arg name="launch_prefix" default=""/>
- <arg name="map_path" default="$(find iri_adc_launch)/maps"/>
- <arg name="map_name" default="adc_map" />
+ <arg name="name" default="adc_car"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_path" default="$(find iri_adc_launch)/maps"/>
+ <arg name="map_name" default="adc_map" />
+
+ <arg name="global_ekf_config_file" default="$(find iri_adc_launch)/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml"/>
+
+
<arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/>
- <arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
- <arg name="path" value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
+ <arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
@@ -35,7 +42,7 @@
<arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/>
- <arg name="amcl_config" value="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/>
+ <arg name="amcl_config" value="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
<arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/>
@@ -49,7 +56,7 @@
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="name" value="$(arg name)"/>
- <arg name="global_ekf_config_file" value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
+ <arg name="global_ekf_config_file" value="$(arg global_ekf_config_file)"/>
<arg name="set_pose_topic" value="/$(arg name)/initialpose"/>
</include>
diff --git a/maps/adc_map.yaml b/maps/adc_map.yaml
index 259c0559168e285d08d6b4518f8fa5adb129a3a4..cf92b8e2c0654aa6be98b3419cfd02a8b441ae59 100644
--- a/maps/adc_map.yaml
+++ b/maps/adc_map.yaml
@@ -4,3 +4,4 @@ origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
+