Commit 8349ccbc authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Changes to get the opendrive global planner working. Almost done.

parent bcebdee0
......@@ -20,25 +20,25 @@ odom0_config: [false, false, false,
false, false, true,
false, false, false]
imu0: /adc_car/sensors/imu_enu
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, 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_differential: false
imu0_relative: false
imu0_remove_gravitational_acceleration: true
#imu0_differential: false
#imu0_relative: true
#imu0_remove_gravitational_acceleration: true
pose0: /adc_car/amcl_pose
pose0_config: [true, true, false,
false, false, true,
pose0_config: [true, true, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
#pose0_relative: false
pose0_relative: false
#pose0_queue_size: 5
#pose0_rejection_threshold: 2 # Note the difference in parameter name
#pose0_nodelay: false
......
......@@ -6,6 +6,7 @@ print_diagnostics: true
debug: false
debug_out_file: /tmp/debug_ekf_localization.txt
use_control: false
control_config: [true, false, false, false, false, true]
publish_tf: true
map_frame: map
......@@ -16,7 +17,7 @@ world_frame: adc_car/odom
odom0: /adc_car/odom
odom0_config: [false, false, false,
false, false, false,
true, true, false,
true, false, false,
false, false, true,
false, false, false]
......@@ -25,10 +26,10 @@ imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, false, false]
false, false, false]
imu0_differential: false
imu0_relative: false
imu0_relative: true
imu0_remove_gravitational_acceleration: true
#meaning_config: [x, y, z,
......
......@@ -7,12 +7,12 @@ initial_pose_y: 0.0
initial_pose_a: 0.0
# filer parameters
min_particles: 100
min_particles: 1000
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
update_min_d: 0.1
update_min_a: 0.1
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
......@@ -40,7 +40,7 @@ laser_model_type: 'likelihood_field'
odom_model_type: "diff"
odom_alpha1: 0.2
odom_alpha2: 0.2
odom_alpha3: 0.2
odom_alpha3: 0.02
odom_alpha4: 0.2
odom_alpha5: 0.2
tf_broadcast: false
......@@ -4,7 +4,7 @@ OpendriveGlobalPlanner:
dist_tol: 0.3
multi_hyp: True
resolution: 0.01
scale_factor: 10.0
scale_factor: 8.0
min_road_length: 0.01
cost_type: 0
base_local_planner: "AckermannPlannerROS"
AckermannPlannerROS:
max_sim_time: 3.0
min_sim_time: 1.0
sim_granularity: 0.2
angular_sim_granularity: 0.02
path_distance_bias: 50.0
goal_distance_bias: 10.0
occdist_scale: 0.05
# stop_time_buffer:
oscillation_reset_dist: 0.002
oscillation_reset_angle: 0.001
# forward_point_distance:
# scaling_speed:
# max_scaling_factor:
trans_vel_samples: 31
steer_angle_samples: 21
prune_plan: true
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.5
trans_stopped_vel: 0.1
rot_stopped_vel: 0.1
restore_defaults: false
max_trans_vel: 1.0
min_trans_vel: -1.0
max_trans_acc: 0.2
max_steer_angle: 0.4
min_steer_angle: -0.4
max_steer_vel: 0.3
min_steer_vel: -0.3
max_steer_acc: 1.0
axis_distance: 0.3662
wheel_distance: 0.216
wheel_radius: 0.05
split_ignore_length: 0.1
cmd_vel_avg: 1
odom_avg: 1
planner_patience: 5
hdiff_scale: 0.5
heading_points: 8
rate: 40
odom_frame: "adc_car/odom"
robot_frame: "adc_car/base_footprint"
encoder_ticks: 60
wheel_diameter: 0.100
wheel_distance: 0.216
axel_distance: 0.3662
filter_coeff: 0.75
max_steer_angle: 0.4
min_steer_angle: -0.4
max_steer_control: 100.0
min_steer_control: -100.0
publish_tf: True
......@@ -29,9 +29,9 @@
<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="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params_no_tf.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="standalone" value="True"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config//adc_car_local_ekf.yaml"/>
</include>
<include file="$(find iri_adc_launch)/launch/sample_signals.launch">
......
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="adc_car"/>
<arg name="circuit" default="sample"/>
<arg name="map_name" default="$(arg circuit)"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(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="true"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
<arg name="name" value="$(arg name)"/>
<arg name="params_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="local_planner" value="ackermann_sbpl"/>
<arg name="global_planner" value="sbpl"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="map_path" value="$(find iri_adc_circuit_example)/map"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="amcl_config" value="$(find iri_adc_launch)/config/$(arg name)_move_base/amcl_no_tf.yaml"/>
<arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="$(arg circuit)"/>
</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 $(find iri_adc_launch)/rviz/localization_global.rviz">
</node>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="adc_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
<include file="$(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="True"/>
</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>
<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
args="0 0 0 0 0 0 map $(arg name)/odom"/>-->
<include file="$(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 $(find iri_adc_launch)/rviz/localization_local.rviz">
</node>
</launch>
......@@ -3,80 +3,55 @@
<launch>
<arg name="name" default="adc_car"/>
<arg name="circuit" default="sample"/>
<arg name="map_name" default="$(arg circuit)"/>
<arg name="global_planner" default="sbpl"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="map_path" default="$(find iri_adc_circuit_example)/map"/>
<arg name="map_name" default="sample" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="sample"/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="-0.22"/>
<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/$(arg name)_mux.yaml"/>
<arg name="standalone" value="False"/>
<include file="$(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="true"/>
<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="$(find iri_model_car_rosnav)/params/amcl_no_tf.yaml"/>
<arg name="initial_x" value="$(arg car_x)"/>
<arg name="initial_y" value="$(arg car_y)"/>
<arg name="initial_yaw" value="$(arg car_yaw)"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="false"/>
<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>
<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="true"/>
<arg name="name" value="$(arg name)"/>
<arg name="global_ekf_config_file" value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
<arg name="name" value="$(arg circuit)"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
<arg name="name" value="$(arg name)"/>
<arg name="params_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="local_planner" value="ackermann_sbpl"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="odom_topic" value="/$(arg name)/local_odom_combined"/>
<arg name="map_path" value="$(find iri_adc_circuit_example)/map"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="amcl_config" value="$(find iri_adc_launch)/config/$(arg name)_move_base/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="$(arg car_yaw)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="opendrive_file_name" default="$(arg circuit)"/>
</include>
<include file="$(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 $(find iri_adc_launch)/rviz/nav.rviz">
</node>
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
</launch>
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