Commit 9ab9372a authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added the set of configuration files adapted to the adc car.

parent 86023511
horizontal_fov: 2.25
width: 1280
height: 960
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
noise_type: 'gaussian'
noise_mean: 0.0
noise_stddev: 0.007
update_rate: 45
camera_name: 'sensors/basler_camera'
image_topic: 'image_raw'
camera_info_topic: 'camera_info'
hack_baseline: 0.07
distortion_K1: 0.0
distortion_K2: 0.0
distortion_K3: 0.0
distortion_T1: 0.0
distortion_T2: 0.0
horizontal_fov: 1.4
width: 1024
height: 768
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
noise_type: 'gaussian'
noise_mean: 0.0
noise_stddev: 0.007
update_rate: 30
camera_name: 'sensors/delock_camera'
image_topic: 'image_raw'
camera_info_topic: 'camera_info'
hack_baseline: 0.07
distortion_K1: 0.0
distortion_K2: 0.0
distortion_K3: 0.0
distortion_T1: 0.0
distortion_T2: 0.0
rate: 100.0
namespace: 'adc_car'
tf_prefix: 'adc_car'
imu_topic: 'sensors/imu'
accel_offset_x: 0.06
accel_offset_y: 0.06
accel_offset_z: 0.08
accel_drift_x: 0.001
accel_drift_y: 0.001
accel_drift_z: 0.001
accel_noise_x: 0.008
accel_noise_y: 0.008
accel_noise_z: 0.008
rate_offset_x: 5.0
rate_offset_y: 5.0
rate_offset_z: 5.0
rate_drift_x: 0.015
rate_drift_y: 0.015
rate_drift_z: 0.015
rate_noise_x: 0.1
rate_noise_y: 0.1
rate_noise_z: 0.1
heading_offset: 0.0
heading_drift: 0.0
heading_noise: 0.0
rate: 20.0
visualize: true
fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/rear_center_ranger1d'
ranger1d_topic: 'sensors/range/rear_center_sonar'
type: 'ultrasound'
noise: 0.01
rate: 20.0
visualize: true
fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/rear_left_ranger1d'
ranger1d_topic: 'sensors/range/rear_left_sonar'
type: 'ultrasound'
noise: 0.01
rate: 20.0
visualize: true
fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/rear_right_ranger1d'
ranger1d_topic: 'sensors/range/rear_right_sonar'
type: 'ultrasound'
noise: 0.01
pose_x: 0
pose_y: 0
pose_z: 0
pose_roll: 0
pose_pitch: 0
pose_yaw: 0
visualize: false
update_rate: 10
samples: 400
resolution: 1
min_angle: -1.5708
max_angle: 1.5708
range_min: 0.15
range_max: 6.0
range_resolution: 0.05
noise_type: 'gaussian'
noise_mean: 0.0
noise_stddev: 0.01
topic_name: 'sensors/scan'
#frame_name: 'scan_frame'
rate: 20.0
visualize: true
fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/side_left_ranger1d'
ranger1d_topic: 'sensors/range/side_left_sonar'
type: 'ultrasound'
noise: 0.01
rate: 20.0
visualize: true
fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'adc_car/side_right_ranger1d'
ranger1d_topic: 'sensors/range/side_right_sonar'
type: 'ultrasound'
noise: 0.01
rate: 40
speed_Kp: 20.0
speed_Ki: 10.0
speed_Kd: 0.05
speed_i_max: 20.0
watchdog_time: 0.5
axel_distance: 0.3662
max_steer_angle: 0.4
min_steer_angle: -0.4
max_speed_control: 20.0
min_speed_control: -20.0
max_steer_control: 100.0
min_steer_control: -100.0
#model_car:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
car_controller:
type: iri_model_car_controller/ModelCarController
steer_left_joint: base_link_2_steer_left_joint
steer_right_joint: base_link_2_steer_right_joint
drive_rear_left_joint: base_link_2_rear_left_wheel_joint
drive_rear_right_joint: base_link_2_rear_right_wheel_joint
drive_front_left_joint: steer_left_2_front_left_wheel_joint
drive_front_right_joint: steer_right_2_front_right_wheel_joint
axel_distance: 0.3662
wheel_distance: 0.216
wheel_diameter: 0.100
encoder_ticks: 60
encoder_rate: 40
min_steer_angle: -0.4
max_steer_angle: 0.4
min_speed: -1.5
max_speed: 1.5
control_topic: /adc_car/control
encoders_topic: /adc_car/encoders
gains:
base_link_2_steer_left_joint:
p: 20.0
d: 0.0
i: 0.0
i_clamp: 1
base_link_2_steer_right_joint:
p: 20.0
d: 0.0
i: 0.0
i_clamp: 1
base_link_2_rear_left_wheel_joint:
p: 0.5
d: 0.0
i: 0.01
i_clamp: 0.1
base_link_2_rear_right_wheel_joint:
p: 0.5
d: 0.0
i: 0.01
i_clamp: 0.1
steer_left_2_front_left_wheel_joint:
p: 0.5
d: 0.0
i: 0.01
i_clamp: 0.1
steer_right_2_front_right_wheel_joint:
p: 0.5
d: 0.0
i: 0.01
i_clamp: 0.1
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
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment