Commit 86023511 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Fix teleop topic. Fix localization local odom tf and include

parent 1e06e444
......@@ -44,8 +44,8 @@
<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"/>
<arg name="global_planner" value="sbpl_ackermann"/>
<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="$(arg map_name)"/>
......@@ -60,7 +60,7 @@
<include file="$(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="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)"/>
......
......@@ -38,7 +38,7 @@
<include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="twist_topic" value="$(arg name)/teleop/cmd_vel"/>
<arg name="twist_topic" value="/$(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="$(arg launch_prefix)"/>
......
......@@ -25,7 +25,13 @@
<arg name="sim_config_path" value="$(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="$(find iri_model_car_odometry)/config/params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
</include>
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
<arg name="global_loc" value="false"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
......@@ -37,8 +43,8 @@
<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"/>
<arg name="global_planner" value="sbpl_ackermann"/>
<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="$(arg output)" />
......@@ -47,7 +53,7 @@
<include file="$(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="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)"/>
......
......@@ -60,7 +60,7 @@
<include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="twist_topic" value="$(arg name)/teleop/cmd_vel"/>
<arg name="twist_topic" value="/$(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)"/>
......
......@@ -675,7 +675,7 @@ Visualization Manager:
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: GlobalPath
Name: GlobalPath(gp)
Offset:
X: 0
Y: 0
......@@ -688,6 +688,29 @@ Visualization Manager:
Topic: /model_car/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 0; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: GlobalPath(sbpl)
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /model_car/move_base/SBPLLatticePlanner/plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
......@@ -741,25 +764,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 33.3944091796875
Distance: 20.127628326416016
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -6.919537544250488
Y: 2.382641077041626
Z: -2.4045217037200928
X: -4.957810401916504
Y: 1.3439643383026123
Z: -0.7569671869277954
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.500397801399231
Pitch: 1.4197964668273926
Target Frame: model_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.130399227142334
Yaw: 3.1285836696624756
Saved: ~
Window Geometry:
Displays:
......
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