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Commit 69cc30cf authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the navigation and mapping launch files.

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launch/adc_sim_mapping.launch 0 → 100644
+ 46
− 0
View file @ 69cc30cf
<?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>
launch/sim_navigation.launch → launch/adc_sim_navigation.launch
+ 1
− 1
View file @ 69cc30cf
...@@ -12,7 +12,7 @@ ...@@ -12,7 +12,7 @@
<arg name="gazebo_gui" default="True"/> <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="-0.22"/> <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">
......
launch/adc_sim_teleop.launch
+ 0
− 23
View file @ 69cc30cf
...@@ -11,23 +11,6 @@ ...@@ -11,23 +11,6 @@
<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="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="adc_car"/>
<arg name="output" value="$(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"> <include file="$(find iri_model_car_launch)/launch/teleop_rqt.launch">
<arg name="name" value="adc_car"/> <arg name="name" value="adc_car"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
...@@ -36,10 +19,4 @@ ...@@ -36,10 +19,4 @@
<arg name="config_file" value="$(find iri_adc_launch)/config/teleop_config.yaml" /> <arg name="config_file" value="$(find iri_adc_launch)/config/teleop_config.yaml" />
</include> </include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_adc_launch)/rviz/teleop.rviz">
</node>
</launch> </launch>
launch/sim_mapping.launch deleted 100644 → 0
+ 0
− 73
View file @ b8f36fc5
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="adc_car"/>
<arg name="circuit" default="sample"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="resolution" default="0.05"/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(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>
maps/adc_map.yaml deleted 100644 → 0
+ 0
− 7
View file @ b8f36fc5
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
rviz/mapping.rviz
+ 9
− 147
View file @ 69cc30cf
...@@ -8,12 +8,10 @@ Panels: ...@@ -8,12 +8,10 @@ Panels:
- /Models1 - /Models1
- /Sensors1/Sonar1 - /Sensors1/Sonar1
- /Odometry1 - /Odometry1
- /Odometry1/(red)OdomEncoders(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1 - /Odometry1/(green)OdomCombinedLocal1/Shape1
- /Nav1 - /Nav1
Splitter Ratio: 0.637188196182251 Splitter Ratio: 0.48148149251937866
Tree Height: 641 Tree Height: 794
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
...@@ -344,40 +342,6 @@ Visualization Manager: ...@@ -344,40 +342,6 @@ Visualization Manager:
Name: Sensors Name: Sensors
- Class: rviz/Group - Class: rviz/Group
Displays: 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 - Angle Tolerance: 0.25
Class: rviz/Odometry Class: rviz/Odometry
Covariance: Covariance:
...@@ -395,7 +359,7 @@ Visualization Manager: ...@@ -395,7 +359,7 @@ Visualization Manager:
Scale: 1 Scale: 1
Value: true Value: true
Value: false Value: false
Enabled: false Enabled: true
Keep: 500 Keep: 500
Name: (blue)OdomGroundTruth Name: (blue)OdomGroundTruth
Position Tolerance: 0.25 Position Tolerance: 0.25
...@@ -411,41 +375,7 @@ Visualization Manager: ...@@ -411,41 +375,7 @@ Visualization Manager:
Value: Arrow Value: Arrow
Topic: /adc_car/odom_ground_truth Topic: /adc_car/odom_ground_truth
Unreliable: false Unreliable: false
Value: 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: (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
- Angle Tolerance: 0.25 - Angle Tolerance: 0.25
Class: rviz/Odometry Class: rviz/Odometry
Covariance: Covariance:
...@@ -463,7 +393,7 @@ Visualization Manager: ...@@ -463,7 +393,7 @@ Visualization Manager:
Scale: 1 Scale: 1
Value: true Value: true
Value: false Value: false
Enabled: false Enabled: true
Keep: 500 Keep: 500
Name: (red)OdomEncoders Name: (red)OdomEncoders
Position Tolerance: 0.25 Position Tolerance: 0.25
...@@ -479,40 +409,6 @@ Visualization Manager: ...@@ -479,40 +409,6 @@ Visualization Manager:
Value: Arrow Value: Arrow
Topic: /adc_car/odom Topic: /adc_car/odom
Unreliable: false 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 Value: true
- Angle Tolerance: 0.25 - Angle Tolerance: 0.25
Class: rviz/Odometry Class: rviz/Odometry
...@@ -548,40 +444,6 @@ Visualization Manager: ...@@ -548,40 +444,6 @@ Visualization Manager:
Topic: /adc_car/local_odom_combined Topic: /adc_car/local_odom_combined
Unreliable: false Unreliable: false
Value: true 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 - Angle Tolerance: 0.25
Class: rviz/Odometry Class: rviz/Odometry
Covariance: Covariance:
...@@ -812,10 +674,10 @@ Window Geometry: ...@@ -812,10 +674,10 @@ Window Geometry:
collapsed: false collapsed: false
FrontImage: FrontImage:
collapsed: false collapsed: false
Height: 872 Height: 1025
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 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 QMainWindow State: 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
RearImage: RearImage:
collapsed: false collapsed: false
Selection: Selection:
...@@ -826,6 +688,6 @@ Window Geometry: ...@@ -826,6 +688,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1373 Width: 1853
X: 67 X: 67
Y: 0 Y: 27
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