Adapted to share navigation launch and config files

config/adc_car_global_ekf.yaml → 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

config/adc_rosnav/amcl_no_tf.yaml

 #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

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

launch/adc_sim_navigation.launch → 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>
 

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
+