Commit 60aac447 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to share navigation launch and config files

parent 2184ace9
...@@ -5,7 +5,9 @@ two_d_mode: true ...@@ -5,7 +5,9 @@ two_d_mode: true
print_diagnostics: true print_diagnostics: true
debug: false debug: false
debug_out_file: /tmp/debug_ekf_localization.txt 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 publish_tf: true
map_frame: map map_frame: map
...@@ -16,19 +18,19 @@ world_frame: map ...@@ -16,19 +18,19 @@ world_frame: map
odom0: /adc_car/odom odom0: /adc_car/odom
odom0_config: [false, false, false, odom0_config: [false, false, false,
false, false, false, false, false, false,
true, true, false, true, false, false,
false, false, true, false, false, true,
false, false, false] false, false, false]
#imu0: /adc_car/sensors/imu_enu imu0: /adc_car/sensors/imu_data
#imu0_config: [false, false, false, imu0_config: [false, false, false,
# false, false, false, false, false, false,
# false, false, false, false, false, false,
# false, false, true, false, false, true,
# true, false, false] false, false, false]
#imu0_differential: false imu0_differential: false
#imu0_relative: true imu0_relative: true
#imu0_remove_gravitational_acceleration: true #imu0_remove_gravitational_acceleration: true
pose0: /adc_car/amcl_pose pose0: /adc_car/amcl_pose
......
#frames defined in amc.launch #frames defined in amc.launch
#map_frame_id: map #map_frame_id: map
#odom_frame_id: model_car/odom #odom_frame_id: adc_car/odom
#base_frame_id: model_car/base_footprint #base_frame_id: adc_car/base_footprint
initial_pose_x: 0.0 initial_pose_x: 0.0
initial_pose_y: 0.0 initial_pose_y: 0.0
initial_pose_a: 0.0 initial_pose_a: 0.0
......
...@@ -50,5 +50,5 @@ DWAPlannerROS: ...@@ -50,5 +50,5 @@ DWAPlannerROS:
#not in dynamic reconfigure #not in dynamic reconfigure
publish_traj_pc: false publish_traj_pc: false
global_frame_id: model_car/odom global_frame_id: adc_car/odom
publish_cost_grid_pc: false publish_cost_grid_pc: false
...@@ -2,22 +2,29 @@ ...@@ -2,22 +2,29 @@
<!-- --> <!-- -->
<launch> <launch>
<arg name="name" default="adc_car"/> <arg name="name" default="adc_car"/>
<arg name="output" default="screen"/> <arg name="output" default="screen" />
<arg name="launch_prefix" default=""/> <arg name="launch_prefix" default="" />
<arg name="map_path" default="$(find iri_adc_launch)/maps"/> <arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="map_name" default="adc_map" /> <arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(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_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/> <arg name="opendrive_file_name" default="sample"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/> <arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/> <arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/> <arg name="car_yaw" default="0.0"/>
<include file="$(find iri_rosnav)/launch/nav.launch"> <include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/> <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="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/> <arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/> <arg name="costmap_local_params" value="local_params.yaml"/>
...@@ -35,7 +42,7 @@ ...@@ -35,7 +42,7 @@
<arg name="map_path" value="$(arg map_path)"/> <arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/> <arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="true"/> <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="$(arg car_x)"/> <arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/> <arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/> <arg name="initial_yaw" value="$(arg car_yaw)"/>
...@@ -49,7 +56,7 @@ ...@@ -49,7 +56,7 @@
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch"> <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="name" value="$(arg name)"/> <arg name="name" value="$(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="/$(arg name)/initialpose"/> <arg name="set_pose_topic" value="/$(arg name)/initialpose"/>
</include> </include>
......
...@@ -4,3 +4,4 @@ origin: [-5.000000, -5.000000, 0.000000] ...@@ -4,3 +4,4 @@ origin: [-5.000000, -5.000000, 0.000000]
negate: 0 negate: 0
occupied_thresh: 0.65 occupied_thresh: 0.65
free_thresh: 0.196 free_thresh: 0.196
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