From 9ab9372a83550bac25f96dde21453d06b331a88c Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Tue, 9 Feb 2021 08:18:29 +0100 Subject: [PATCH] Added the set of configuration files adapted to the adc car. --- config/adc_car/basler_camera_sim_config.yaml | 19 +++++++ config/adc_car/delock_camera_sim_config.yaml | 19 +++++++ config/adc_car/mpu9250_imu_config.yaml | 26 +++++++++ config/adc_car/rear_center_sonar_config.yaml | 10 ++++ config/adc_car/rear_left_sonar_config.yaml | 10 ++++ config/adc_car/rear_right_sonar_config.yaml | 10 ++++ config/adc_car/rp_lidar_config.yaml | 20 +++++++ config/adc_car/side_left_sonar_config.yaml | 10 ++++ config/adc_car/side_right_sonar_config.yaml | 10 ++++ config/adc_car_control_params.yaml | 14 +++++ config/adc_car_controller_config.yaml | 57 ++++++++++++++++++++ config/adc_car_odometry_params.yaml | 14 +++++ 12 files changed, 219 insertions(+) create mode 100644 config/adc_car/basler_camera_sim_config.yaml create mode 100644 config/adc_car/delock_camera_sim_config.yaml create mode 100644 config/adc_car/mpu9250_imu_config.yaml create mode 100644 config/adc_car/rear_center_sonar_config.yaml create mode 100644 config/adc_car/rear_left_sonar_config.yaml create mode 100644 config/adc_car/rear_right_sonar_config.yaml create mode 100644 config/adc_car/rp_lidar_config.yaml create mode 100644 config/adc_car/side_left_sonar_config.yaml create mode 100644 config/adc_car/side_right_sonar_config.yaml create mode 100644 config/adc_car_control_params.yaml create mode 100644 config/adc_car_controller_config.yaml create mode 100644 config/adc_car_odometry_params.yaml diff --git a/config/adc_car/basler_camera_sim_config.yaml b/config/adc_car/basler_camera_sim_config.yaml new file mode 100644 index 0000000..2fbe6d5 --- /dev/null +++ b/config/adc_car/basler_camera_sim_config.yaml @@ -0,0 +1,19 @@ +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 diff --git a/config/adc_car/delock_camera_sim_config.yaml b/config/adc_car/delock_camera_sim_config.yaml new file mode 100644 index 0000000..6d7d5fe --- /dev/null +++ b/config/adc_car/delock_camera_sim_config.yaml @@ -0,0 +1,19 @@ +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 diff --git a/config/adc_car/mpu9250_imu_config.yaml b/config/adc_car/mpu9250_imu_config.yaml new file mode 100644 index 0000000..d95002f --- /dev/null +++ b/config/adc_car/mpu9250_imu_config.yaml @@ -0,0 +1,26 @@ +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 + diff --git a/config/adc_car/rear_center_sonar_config.yaml b/config/adc_car/rear_center_sonar_config.yaml new file mode 100644 index 0000000..c63338f --- /dev/null +++ b/config/adc_car/rear_center_sonar_config.yaml @@ -0,0 +1,10 @@ +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 diff --git a/config/adc_car/rear_left_sonar_config.yaml b/config/adc_car/rear_left_sonar_config.yaml new file mode 100644 index 0000000..4a17277 --- /dev/null +++ b/config/adc_car/rear_left_sonar_config.yaml @@ -0,0 +1,10 @@ +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 diff --git a/config/adc_car/rear_right_sonar_config.yaml b/config/adc_car/rear_right_sonar_config.yaml new file mode 100644 index 0000000..96a2039 --- /dev/null +++ b/config/adc_car/rear_right_sonar_config.yaml @@ -0,0 +1,10 @@ +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 diff --git a/config/adc_car/rp_lidar_config.yaml b/config/adc_car/rp_lidar_config.yaml new file mode 100644 index 0000000..02c79f3 --- /dev/null +++ b/config/adc_car/rp_lidar_config.yaml @@ -0,0 +1,20 @@ +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' diff --git a/config/adc_car/side_left_sonar_config.yaml b/config/adc_car/side_left_sonar_config.yaml new file mode 100644 index 0000000..fbcf3c6 --- /dev/null +++ b/config/adc_car/side_left_sonar_config.yaml @@ -0,0 +1,10 @@ +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 diff --git a/config/adc_car/side_right_sonar_config.yaml b/config/adc_car/side_right_sonar_config.yaml new file mode 100644 index 0000000..c1bb4a1 --- /dev/null +++ b/config/adc_car/side_right_sonar_config.yaml @@ -0,0 +1,10 @@ +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 diff --git a/config/adc_car_control_params.yaml b/config/adc_car_control_params.yaml new file mode 100644 index 0000000..a97da44 --- /dev/null +++ b/config/adc_car_control_params.yaml @@ -0,0 +1,14 @@ +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 + diff --git a/config/adc_car_controller_config.yaml b/config/adc_car_controller_config.yaml new file mode 100644 index 0000000..5281aac --- /dev/null +++ b/config/adc_car_controller_config.yaml @@ -0,0 +1,57 @@ +#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 diff --git a/config/adc_car_odometry_params.yaml b/config/adc_car_odometry_params.yaml new file mode 100644 index 0000000..d200601 --- /dev/null +++ b/config/adc_car_odometry_params.yaml @@ -0,0 +1,14 @@ +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 + -- GitLab