diff --git a/launch/adc_sim_mapping.launch b/launch/adc_sim_mapping.launch new file mode 100644 index 0000000000000000000000000000000000000000..f0af00d63eb6be76a2b02c16ae90cd20a1381517 --- /dev/null +++ b/launch/adc_sim_mapping.launch @@ -0,0 +1,46 @@ +<?xml version="1.0"?> +<!-- --> +<launch> + + <arg name="name" default="adc_car"/> + <arg name="output" default="screen"/> + <arg name="launch_prefix" default=""/> + <arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/> + <arg name="opendrive_file_name" default="sample"/> + + <arg name="resolution" default="0.05"/> + <arg name="gazebo_gui" default="True"/> + + <include file="$(find iri_rosnav)/launch/nav.launch"> + <arg name="ns" value="$(arg name)"/> + <arg name="path" value="$(find iri_adc_launch)/config/$(arg name)_move_base"/> + <arg name="move_base_params" value="move_base_params.yaml"/> + <arg name="costmap_common_params" value="common_params.yaml"/> + <arg name="costmap_local_params" value="local_params.yaml"/> + <arg name="costmap_global_params" value="global_params.yaml"/> + <arg name="map_frame_id" value="map"/> + <arg name="odom_frame_id" value="$(arg name)/odom"/> + <arg name="base_frame_id" value="$(arg name)/base_footprint"/> + <arg name="map_topic" value="/$(arg name)/map"/> + <arg name="map_service" value="/$(arg name)/static_map"/> + <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/> + <arg name="cmd_vel_topic" value="/$(arg name)/navigation/cmd_vel"/> + <arg name="scan_topic" value="/$(arg name)/sensors/scan"/> + <arg name="use_map" value="true"/> + <arg name="use_map_server" value="false"/> + <arg name="map_name" value="empty"/> + <arg name="use_amcl" value="false"/> + <arg name="use_fake_loc" value="false"/> + <arg name="use_gmapping" value="true"/> + <arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/> + <arg name="gmapping_config" value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/> + <arg name="resolution" value="$(arg resolution)"/> + <arg name="local_planner" value="ackermann"/> + <arg name="global_planner" value="iri_opendrive"/> + <arg name="output" value="$(arg output)" /> + <arg name="launch_prefix" value="$(arg launch_prefix)" /> + </include> + + <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" /> + +</launch> diff --git a/launch/sim_navigation.launch b/launch/adc_sim_navigation.launch similarity index 98% rename from launch/sim_navigation.launch rename to launch/adc_sim_navigation.launch index 7f082afed5fbfd1b1b7efe6e359e58e868098874..8b6d6e29671c3dc3ca2d3939e789f2ff07cac925 100644 --- a/launch/sim_navigation.launch +++ b/launch/adc_sim_navigation.launch @@ -12,7 +12,7 @@ <arg name="gazebo_gui" default="True"/> <arg name="car_x" default="0.0"/> - <arg name="car_y" default="-0.22"/> + <arg name="car_y" default="0.0"/> <arg name="car_yaw" default="0.0"/> <include file="$(find iri_rosnav)/launch/nav.launch"> diff --git a/launch/adc_sim_teleop.launch b/launch/adc_sim_teleop.launch index 9d426bd087cd263d6045335a630c45fc585af101..2a6a0e4cb9a5aa2c270caa2493aaaacd504595ab 100644 --- a/launch/adc_sim_teleop.launch +++ b/launch/adc_sim_teleop.launch @@ -11,23 +11,6 @@ <arg name="car_y" default="0.0"/> <arg name="car_yaw" default="0.0"/> - <include file="$(find iri_model_car_gazebo)/launch/sim.launch"> - <arg name="name" value="adc_car"/> - <arg name="output" value="$(arg output)"/> - <arg name="launch_prefix" value="$(arg launch_prefix)"/> - <arg name="world" value="$(arg world)"/> - <arg name="gazebo_gui" value="$(arg gazebo_gui)"/> - <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_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="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/> - <arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/> - <arg name="standalone" value="True"/> - </include> - <include file="$(find iri_model_car_launch)/launch/teleop_rqt.launch"> <arg name="name" value="adc_car"/> <arg name="output" value="$(arg output)"/> @@ -36,10 +19,4 @@ <arg name="config_file" value="$(find iri_adc_launch)/config/teleop_config.yaml" /> </include> - <node name="rviz" - pkg="rviz" - type="rviz" - args="-d $(find iri_adc_launch)/rviz/teleop.rviz"> - </node> - </launch> diff --git a/launch/sim_mapping.launch b/launch/sim_mapping.launch deleted file mode 100644 index 9a1547e3f204c20ef413a926f6e0ef746191be73..0000000000000000000000000000000000000000 --- a/launch/sim_mapping.launch +++ /dev/null @@ -1,73 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <arg name="name" default="adc_car"/> - <arg name="circuit" default="sample"/> - <arg name="output" default="screen"/> - <arg name="launch_prefix" default=""/> - - <arg name="resolution" default="0.05"/> - <arg name="world" default="empty"/> - <arg name="gazebo_gui" default="True"/> - <arg name="car_x" default="0.0"/> - <arg name="car_y" default="0.0"/> - <arg name="car_yaw" default="0.0"/> - - <include file="$(find iri_model_car_gazebo)/launch/sim.launch"> - <arg name="name" value="$(arg name)"/> - <arg name="output" value="$(arg output)"/> - <arg name="launch_prefix" value="$(arg launch_prefix)"/> - <arg name="world" value="$(arg world)"/> - <arg name="gazebo_gui" value="$(arg gazebo_gui)"/> - <arg name="car_x" value="$(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="$(find iri_adc_launch)/config/$(arg name)"/> - <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/$(arg name)_controller_config.yaml"/> - <arg name="control_config_file" value="$(find iri_adc_launch)/config/$(arg name)_control_params.yaml"/> - <arg name="odometry_config_file" value="$(find iri_adc_launch)/config/$(arg name)_odometry_params_no_tf.yaml"/> - <arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/$(arg name)_mux.yaml"/> - <arg name="standalone" value="False"/> - </include> - - <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch"> - <arg name="name" value="$(arg name)"/> - <arg name="local_ekf_yaml_file" default="$(find iri_adc_launch)/config/$(arg name)_local_ekf.yaml"/> - <arg name="global_ekf_yaml_file" default="$(find iri_adc_launch)/config/$(arg name)_global_ekf.yaml"/> - <arg name="global_loc" default="false"/> - </include> - - <include file="$(find iri_adc_circuit_example)/launch/spawn.launch"> - <arg name="name" value="$(arg circuit)"/> - </include> - - <include file="$(find iri_model_car_rosnav)/launch/nav_mapping.launch"> - <arg name="name" value="$(arg name)"/> - <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"/> - <arg name="costmap_global_params" value="global_params.yaml"/> - <arg name="local_planner" value="ackermann_sbpl"/> - <arg name="global_planner" value="sbpl"/> - <arg name="odom_topic" value="/$(arg name)/local_odom_combined"/> - <arg name="resolution" value="$(arg resolution)"/> - <arg name="output" value="$(arg output)" /> - <arg name="launch_prefix" value="$(arg launch_prefix)" /> - </include> - - <include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch"> - <arg name="ns" value="$(arg name)"/> - <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" - args="-d $(find iri_adc_launch)/rviz/mapping.rviz"> - </node> - -</launch> diff --git a/maps/adc_map.yaml b/maps/adc_map.yaml deleted file mode 100644 index fdc927f13e7ff604ade43343aa0572b80d63d26e..0000000000000000000000000000000000000000 --- a/maps/adc_map.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: /home/sergi/iri-lab/adc_ws/src/adc/iri_adc_launch/maps/adc_map.pgm -resolution: 0.050000 -origin: [-5.000000, -5.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/rviz/mapping.rviz b/rviz/mapping.rviz index e1bc3c31ad88ea07b27f8d1606890d7ffb71d7ae..1c44bcf805ae2b996e2f7807380a81df0476bcf9 100644 --- a/rviz/mapping.rviz +++ b/rviz/mapping.rviz @@ -8,12 +8,10 @@ Panels: - /Models1 - /Sensors1/Sonar1 - /Odometry1 - - /Odometry1/(red)OdomEncoders(1)1/Shape1 - - /Odometry1/(green)OdomCombinedLocal(1)1/Shape1 - /Odometry1/(green)OdomCombinedLocal1/Shape1 - /Nav1 - Splitter Ratio: 0.637188196182251 - Tree Height: 641 + Splitter Ratio: 0.48148149251937866 + Tree Height: 794 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -344,40 +342,6 @@ Visualization Manager: Name: Sensors - Class: rviz/Group Displays: - - 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: false - Keep: 1 - Name: (blue)OdomGroundTruth(1) - Position Tolerance: 0 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 32; 74; 135 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /adc_car/odom_ground_truth - Unreliable: false - Value: false - Angle Tolerance: 0.25 Class: rviz/Odometry Covariance: @@ -395,7 +359,7 @@ Visualization Manager: Scale: 1 Value: true Value: false - Enabled: false + Enabled: true Keep: 500 Name: (blue)OdomGroundTruth Position Tolerance: 0.25 @@ -411,41 +375,7 @@ Visualization Manager: Value: Arrow Topic: /adc_car/odom_ground_truth Unreliable: false - Value: false - - 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: false - Keep: 1 - Name: (red)OdomEncoders(1) - Position Tolerance: 0 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /adc_car/odom - Unreliable: false - Value: false + Value: true - Angle Tolerance: 0.25 Class: rviz/Odometry Covariance: @@ -463,7 +393,7 @@ Visualization Manager: Scale: 1 Value: true Value: false - Enabled: false + Enabled: true Keep: 500 Name: (red)OdomEncoders Position Tolerance: 0.25 @@ -479,40 +409,6 @@ Visualization Manager: Value: Arrow Topic: /adc_car/odom Unreliable: false - Value: false - - 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: (green)OdomCombinedLocal(1) - Position Tolerance: 0 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 0; 255; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /adc_car/local_odom_combined - Unreliable: false Value: true - Angle Tolerance: 0.25 Class: rviz/Odometry @@ -548,40 +444,6 @@ Visualization Manager: Topic: /adc_car/local_odom_combined 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: false - Keep: 1 - Name: (yellow)OdomCombinedGlobal(1) - Position Tolerance: 0 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 255; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /adc_car/global_odom_combined - Unreliable: false - Value: false - Angle Tolerance: 0.25 Class: rviz/Odometry Covariance: @@ -812,10 +674,10 @@ Window Geometry: collapsed: false FrontImage: collapsed: false - Height: 872 + Height: 1025 Hide Left Dock: false Hide Right Dock: false - 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RearImage: collapsed: false Selection: @@ -826,6 +688,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1373 + Width: 1853 X: 67 - Y: 0 + Y: 27