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Commit 9f0dfee3 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated to launch and configure iri_adc_landmarks_slam solver

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1 merge request!3Updated the configuration of the landmark global localization.
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config/adc_common/ar_tag_loc_filter.yaml 0 → 100644
+ 16
− 0
View file @ 9f0dfee3
rate: 100
publish_visualization: True
range_filter_en: True
detection_max_range: 4.0
confidence_filter_en: False
detection_min_confidence: 126
id_filter_en: True
ids_enabled: "0, 1, 2"
time_persistance_filter_en: True
time_persistance_alpha_window: 0.1
time_persistance_range_window: 0.2
time_persistance_min_detections: 4
config/adc_common/landmarks_loc/amcl_mapping.yaml 0 → 100644
+ 36
− 0
View file @ 9f0dfee3
rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization : True
load_landmarks : False
landmarks_pos_fixed : False
search_for_new_landmarks : True
first_robot_state_fixed : False
last_robot_state_fixed : True
all_robot_states_fixed : True
amcl_localization : True
calculate_covariance : False
publish_tf_map_odom : False
update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
config/adc_common/landmarks_loc/landmarks_calibration.yaml 0 → 100644
+ 36
− 0
View file @ 9f0dfee3
rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization : True
load_landmarks : True
landmarks_pos_fixed : False
search_for_new_landmarks : False
first_robot_state_fixed : True
last_robot_state_fixed : False
all_robot_states_fixed : False
amcl_localization : False
calculate_covariance : False
publish_tf_map_odom : True
update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml 0 → 100644
+ 36
− 0
View file @ 9f0dfee3
rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization : True
load_landmarks : True
landmarks_pos_fixed : False
search_for_new_landmarks : False
first_robot_state_fixed : False
last_robot_state_fixed : False
all_robot_states_fixed : True
amcl_localization : True
calculate_covariance : False
publish_tf_map_odom : False
update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
config/adc_common/landmarks_loc/localization.yaml 0 → 100644
+ 36
− 0
View file @ 9f0dfee3
rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization : True
load_landmarks : True
landmarks_pos_fixed : True
search_for_new_landmarks : False
first_robot_state_fixed : False
last_robot_state_fixed : False
all_robot_states_fixed : False
amcl_localization : False
calculate_covariance : True
publish_tf_map_odom : True
update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
problem_frame_window: 60
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
config/adc_common/landmarks_loc/slam_mapping.yaml 0 → 100644
+ 36
− 0
View file @ 9f0dfee3
rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization : True
load_landmarks : False
landmarks_pos_fixed : False
search_for_new_landmarks : True
first_robot_state_fixed : True
last_robot_state_fixed : False
all_robot_states_fixed : False
amcl_localization : False
calculate_covariance : False
publish_tf_map_odom : True
update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
launch/adc_global_localization.launch
+ 25
− 2
View file @ 9f0dfee3
......@@ -16,6 +16,10 @@
<arg name="map_path" default="$(find iri_adc_launch)/maps"/>
<arg name="map_name" default="adc_map" />
<arg name="amcl_config" default="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
<arg name="landmarks_config_dir" default="$(find iri_adc_launch)/config/adc_common/landmarks_loc"/>
<arg name="landmarks_config_file" default="amcl_mapping.yaml"/>
<arg name="landmarks_data_dir" default="$(find iri_adc_launch)/data/sample_parking"/>
<arg name="landmarks_file" default="landmarks.txt"/>
<!-- Ar track alvar (bringup??) -->
<group ns="$(arg car_name)">
......@@ -28,7 +32,7 @@
<param name="max_new_marker_error" type="double" value="0.08" />
<param name="max_track_error" type="double" value="0.2" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/image_raw" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
......@@ -37,10 +41,29 @@
<arg name="node_name" value="iri_adc_tag_localization_filter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
<arg name="config_file" value="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/>
<arg name="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/ar_pose_marker"/>
</include>
<include file="$(find iri_image_inverter)/launch/node.launch">
<arg name="node_name" value="iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
</include>
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="features_topic_name" value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
</include>
</group>
<include file="$(find iri_rosnav)/launch/include/map_server.launch">
......
rviz/localization_global.rviz
+ 5
− 4
View file @ 9f0dfee3
......@@ -615,7 +615,7 @@ Visualization Manager:
Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
Enabled: false
Enabled: true
Name: Odometry
- Class: rviz/Group
Displays:
......@@ -758,7 +758,7 @@ Visualization Manager:
Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/landmarks
Name: Landmarks
Namespaces:
{}
landmarks: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
......@@ -766,14 +766,15 @@ Visualization Manager:
Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/frame_data
Name: Frames
Namespaces:
{}
landmark_connection: true
odom_marker: true
Queue Size: 100
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Color: 92; 53; 102
Covariance:
Orientation:
Alpha: 0.5
......
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