diff --git a/launch/sim_test.launch b/launch/sim_test.launch
index 192e95c61c0d749f0adcd5ead5387713cc8776d5..f23d33bc79d6fb775b3cf2e0ee68154d6b428d86 100644
--- a/launch/sim_test.launch
+++ b/launch/sim_test.launch
@@ -2,7 +2,6 @@
<!-- -->
<launch>
- <arg name="name" default="model_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
@@ -13,7 +12,7 @@
<arg name="car_yaw" default="0.0"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
- <arg name="name" value="$(arg name)"/>
+ <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="world" value="$(arg world)"/>
@@ -21,23 +20,23 @@
<arg name="car_x" value="$(arg car_x)"/>
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
- <arg name="sim_config_path" value="$(find iri_model_car_gazebo)/config"/>
- <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
- <arg name="control_config_file" value="$(find iri_model_car_control)/config/params.yaml"/>
- <arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params.yaml"/>
+ <arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_car"/>
+ <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
+ <arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
+ <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
- args="0 0 0 0 0 0 map model_car/odom"/>
-
+ args="0 0 0 0 0 0 map adc_car/odom"/>
+<!--
<include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
- <arg name="ns" value="$(arg name)"/>
+ <arg name="ns" value="adc_car"/>
<arg name="twist_topic" value="$(arg name)/teleop/cmd_vel"/>
<arg name="config_file" value="$(find iri_teleop_launch)/config/rqt_teleop.yaml" />
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
-
+-->
<node name="rviz"
pkg="rviz"
type="rviz"
diff --git a/rviz/sim_test.rviz b/rviz/sim_test.rviz
index a1e4c245be1e1220e369185cc4551aa49ce42d97..fb676f51e3e2a141cf8254ef9bdeabcc44d60f8f 100644
--- a/rviz/sim_test.rviz
+++ b/rviz/sim_test.rviz
@@ -7,11 +7,8 @@ Panels:
- /Global Options1
- /Models1
- /Sensors1
- - /Sensors1/Odometry1
- - /Sensors1/Odometry1/Odometry1/Shape1
- - /Sensors1/Sonar1
Splitter Ratio: 0.6352941393852234
- Tree Height: 794
+ Tree Height: 821
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -191,8 +188,8 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: model_car/robot_description
- TF Prefix: model_car
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
Update Interval: 0
Value: true
Visual Enabled: true
@@ -201,63 +198,63 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
- map:
+ adc_car/base_footprint:
Value: true
- model_car/base_footprint:
+ adc_car/base_link:
Value: true
- model_car/base_link:
+ adc_car/body:
Value: true
- model_car/body:
+ adc_car/front_camera_uvc_camera_base:
Value: true
- model_car/front_camera_uvc_camera_base:
+ adc_car/front_camera_uvc_camera_optical:
Value: true
- model_car/front_camera_uvc_camera_optical:
+ adc_car/front_left_wheel:
Value: true
- model_car/front_left_wheel:
+ adc_car/front_lidar_rplidar_base:
Value: true
- model_car/front_lidar_rplidar_base:
+ adc_car/front_lidar_rplidar_scan_frame:
Value: true
- model_car/front_lidar_rplidar_scan_frame:
+ adc_car/front_right_wheel:
Value: true
- model_car/front_right_wheel:
+ adc_car/imu_mpu9250:
Value: true
- model_car/imu_mpu9250:
+ adc_car/imu_mpu9250_base:
Value: true
- model_car/imu_mpu9250_base:
+ adc_car/odom:
Value: true
- model_car/odom:
+ adc_car/rear_camera_uvc_camera_base:
Value: true
- model_car/rear_camera_uvc_camera_base:
+ adc_car/rear_camera_uvc_camera_optical:
Value: true
- model_car/rear_camera_uvc_camera_optical:
+ adc_car/rear_center_base:
Value: true
- model_car/rear_center_base:
+ adc_car/rear_center_ranger1d:
Value: true
- model_car/rear_center_ranger1d:
+ adc_car/rear_left_base:
Value: true
- model_car/rear_left_base:
+ adc_car/rear_left_ranger1d:
Value: true
- model_car/rear_left_ranger1d:
+ adc_car/rear_left_wheel:
Value: true
- model_car/rear_left_wheel:
+ adc_car/rear_right_base:
Value: true
- model_car/rear_right_base:
+ adc_car/rear_right_ranger1d:
Value: true
- model_car/rear_right_ranger1d:
+ adc_car/rear_right_wheel:
Value: true
- model_car/rear_right_wheel:
+ adc_car/side_left_base:
Value: true
- model_car/side_left_base:
+ adc_car/side_left_ranger1d:
Value: true
- model_car/side_left_ranger1d:
+ adc_car/side_right_base:
Value: true
- model_car/side_right_base:
+ adc_car/side_right_ranger1d:
Value: true
- model_car/side_right_ranger1d:
+ adc_car/steer_left:
Value: true
- model_car/steer_left:
+ adc_car/steer_right:
Value: true
- model_car/steer_right:
+ map:
Value: true
Marker Scale: 0.25
Name: TF
@@ -266,47 +263,47 @@ Visualization Manager:
Show Names: true
Tree:
map:
- model_car/odom:
- model_car/base_footprint:
- model_car/base_link:
- model_car/body:
+ adc_car/odom:
+ adc_car/base_footprint:
+ adc_car/base_link:
+ adc_car/body:
{}
- model_car/front_camera_uvc_camera_base:
- model_car/front_camera_uvc_camera_optical:
+ adc_car/front_camera_uvc_camera_base:
+ adc_car/front_camera_uvc_camera_optical:
{}
- model_car/front_lidar_rplidar_base:
- model_car/front_lidar_rplidar_scan_frame:
+ adc_car/front_lidar_rplidar_base:
+ adc_car/front_lidar_rplidar_scan_frame:
{}
- model_car/imu_mpu9250_base:
- model_car/imu_mpu9250:
+ adc_car/imu_mpu9250_base:
+ adc_car/imu_mpu9250:
{}
- model_car/rear_camera_uvc_camera_base:
- model_car/rear_camera_uvc_camera_optical:
+ adc_car/rear_camera_uvc_camera_base:
+ adc_car/rear_camera_uvc_camera_optical:
{}
- model_car/rear_center_base:
- model_car/rear_center_ranger1d:
+ adc_car/rear_center_base:
+ adc_car/rear_center_ranger1d:
{}
- model_car/rear_left_base:
- model_car/rear_left_ranger1d:
+ adc_car/rear_left_base:
+ adc_car/rear_left_ranger1d:
{}
- model_car/rear_left_wheel:
+ adc_car/rear_left_wheel:
{}
- model_car/rear_right_base:
- model_car/rear_right_ranger1d:
+ adc_car/rear_right_base:
+ adc_car/rear_right_ranger1d:
{}
- model_car/rear_right_wheel:
+ adc_car/rear_right_wheel:
{}
- model_car/side_left_base:
- model_car/side_left_ranger1d:
+ adc_car/side_left_base:
+ adc_car/side_left_ranger1d:
{}
- model_car/side_right_base:
- model_car/side_right_ranger1d:
+ adc_car/side_right_base:
+ adc_car/side_right_ranger1d:
{}
- model_car/steer_left:
- model_car/front_left_wheel:
+ adc_car/steer_left:
+ adc_car/front_left_wheel:
{}
- model_car/steer_right:
- model_car/front_right_wheel:
+ adc_car/steer_right:
+ adc_car/front_right_wheel:
{}
Update Interval: 0
Value: true
@@ -347,41 +344,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom_ground_truth
- Unreliable: false
- Value: true
- - Angle Tolerance: 0
- Class: rviz/Odometry
- Covariance:
- Orientation:
- Alpha: 0.5
- Color: 255; 255; 127
- Color Style: Unique
- Frame: Local
- Offset: 1
- Scale: 1
- Value: true
- Position:
- Alpha: 0.30000001192092896
- Color: 204; 51; 204
- Scale: 1
- Value: true
- Value: false
- Enabled: true
- Keep: 1
- Name: GroundTruth(1)
- Position Tolerance: 0
- Shape:
- Alpha: 1
- Axes Length: 1
- Axes Radius: 0.10000000149011612
- Color: 0; 0; 255
- Head Length: 0.15000000596046448
- Head Radius: 0.05000000074505806
- Shaft Length: 0.5
- Shaft Radius: 0.02500000037252903
- Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -415,41 +378,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom
- Unreliable: false
- Value: true
- - Angle Tolerance: 0
- Class: rviz/Odometry
- Covariance:
- Orientation:
- Alpha: 0.5
- Color: 255; 255; 127
- Color Style: Unique
- Frame: Local
- Offset: 1
- Scale: 1
- Value: true
- Position:
- Alpha: 0.30000001192092896
- Color: 204; 51; 204
- Scale: 1
- Value: true
- Value: false
- Enabled: true
- Keep: 1
- Name: Odometry(1)
- Position Tolerance: 0
- Shape:
- Alpha: 1
- Axes Length: 1
- Axes Radius: 0.10000000149011612
- Color: 255; 25; 0
- Head Length: 0.15000000596046448
- Head Radius: 0.05000000074505806
- Shaft Length: 0.5
- Shaft Radius: 0.02500000037252903
- Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
Enabled: true
@@ -463,7 +392,7 @@ Visualization Manager:
Enabled: true
Name: RearCenterRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_center_sonar
+ Topic: /adc_car/sensors/range/rear_center_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -473,7 +402,7 @@ Visualization Manager:
Enabled: true
Name: RearLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_left_sonar
+ Topic: /adc_car/sensors/range/rear_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -483,7 +412,7 @@ Visualization Manager:
Enabled: true
Name: RearRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_right_sonar
+ Topic: /adc_car/sensors/range/rear_right_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -493,7 +422,7 @@ Visualization Manager:
Enabled: true
Name: SideLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_left_sonar
+ Topic: /adc_car/sensors/range/side_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -503,10 +432,10 @@ Visualization Manager:
Enabled: true
Name: SideRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_right_sonar
+ Topic: /adc_car/sensors/range/side_right_sonar
Unreliable: false
Value: true
- Enabled: false
+ Enabled: true
Name: Sonar
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -533,7 +462,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /model_car/sensors/scan
+ Topic: /adc_car/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -544,31 +473,31 @@ Visualization Manager:
Enabled: false
History Length: 2
Name: Imu
- Topic: /model_car/sensors/imu_data
+ Topic: /adc_car/sensors/imu_data
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/basler_camera/image_raw
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: FrontImage
Normalize Range: true
Queue Size: 2
- Transport Hint: compressed
+ Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/delock_camera/image_raw
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: RearImage
Normalize Range: true
Queue Size: 2
- Transport Hint: compressed
+ Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
@@ -577,7 +506,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: model_car/odom
+ Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
@@ -616,20 +545,20 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.7853981852531433
+ Pitch: 0.8003981709480286
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 0.7853981852531433
+ Yaw: 0.7803981900215149
Saved: ~
Window Geometry:
Displays:
collapsed: false
FrontImage:
collapsed: false
- Height: 1025
+ Height: 1052
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001d10000001600fffffffb0000001200520065006100720049006d0061006700650100000214000001d00000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000020f000003c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003c2fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001df0000001600fffffffb0000001200520065006100720049006d0061006700650100000222000001dd0000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000416000003c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage:
collapsed: false
Selection:
@@ -640,6 +569,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1853
- X: 1987
- Y: 27
+ Width: 1920
+ X: 1920
+ Y: 0