diff --git a/launch/sim_localization_global.launch b/launch/sim_localization_global.launch
index 2f48d656818d78dfaa3f4db6af1f38bb21bcc921..7eddbf69bc234e72cc894f3cd3f38e0f8c40b2e0 100644
--- a/launch/sim_localization_global.launch
+++ b/launch/sim_localization_global.launch
@@ -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)"/>
diff --git a/launch/sim_localization_local.launch b/launch/sim_localization_local.launch
index 1a23146dace3ed6d18f539dead63297e8830293e..997393746b01afdd8c30de5c322ecece019d3b28 100644
--- a/launch/sim_localization_local.launch
+++ b/launch/sim_localization_local.launch
@@ -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="$(arg launch_prefix)"/>
diff --git a/launch/sim_mapping.launch b/launch/sim_mapping.launch
index a63e373111c56806eae14da96ad34070692f9612..b200a3e2170b067324da8d67bc018435f6eb3bfb 100644
--- a/launch/sim_mapping.launch
+++ b/launch/sim_mapping.launch
@@ -25,7 +25,13 @@
<arg name="sim_config_path" value="$(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)"/>
diff --git a/launch/sim_navigation.launch b/launch/sim_navigation.launch
index e6eeafe9690d9f2054f2daa0c5bcc52ac006d512..4a34f3374c0bdc67d2b411acb6b8ef2ed0b69eb7 100644
--- a/launch/sim_navigation.launch
+++ b/launch/sim_navigation.launch
@@ -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)"/>
diff --git a/rviz/localization_global.rviz b/rviz/localization_global.rviz
index b04a8a1586286bbb0771f1ea0ab0ed3dd7d2f097..8026b0d992ba3880cd691db15a50ea56e91f3a1d 100644
--- a/rviz/localization_global.rviz
+++ b/rviz/localization_global.rviz
@@ -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: