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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
9ab9372a
Commit
9ab9372a
authored
Feb 09, 2021
by
Sergi Hernandez
Browse files
Added the set of configuration files adapted to the adc car.
parent
86023511
Changes
12
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config/adc_car/basler_camera_sim_config.yaml
0 → 100644
View file @
9ab9372a
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
config/adc_car/delock_camera_sim_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/mpu9250_imu_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/rear_center_sonar_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/rear_left_sonar_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/rear_right_sonar_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/rp_lidar_config.yaml
0 → 100644
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9ab9372a
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'
config/adc_car/side_left_sonar_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car/side_right_sonar_config.yaml
0 → 100644
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9ab9372a
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
config/adc_car_control_params.yaml
0 → 100644
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9ab9372a
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
config/adc_car_controller_config.yaml
0 → 100644
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9ab9372a
#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
config/adc_car_odometry_params.yaml
0 → 100644
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9ab9372a
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
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