Commit a6538956 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Updated the configuration parameters.

Grouped all the map related files in a folder with the name of the map.
parent 047087a1
......@@ -7,8 +7,8 @@ wheel_distance: 0.216
axel_distance: 0.3662
filter_coeff: 0.3
speed_deadband: 0.1
max_steer_angle: 0.41
min_steer_angle: -0.41
max_steer_angle: 0.4
min_steer_angle: -0.4
max_steer_control: 75.0
min_steer_control: -68.0
publish_tf: False
......
......@@ -42,4 +42,4 @@ inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 2.0
inflation_radius: 1.0
inflation_radius: 0.1
......@@ -4,7 +4,7 @@ OpendriveGlobalPlanner:
dist_tol: 0.3
multi_hyp: True
resolution: 0.01
scale_factor: 8.0
scale_factor: 10.0
min_road_length: 0.01
cost_type: 0
......@@ -31,10 +31,10 @@ AckermannPlannerROS:
restore_defaults: false
max_trans_vel: 1.0
min_trans_vel: -1.0
min_trans_vel: 0.11
max_trans_acc: 0.2
max_steer_angle: 0.42
min_steer_angle: -0.42
max_steer_angle: 0.40
min_steer_angle: -0.40
max_steer_vel: 0.3
min_steer_vel: -0.3
max_steer_acc: 1.0
......
......@@ -19,12 +19,12 @@
encoder_rate: 40
min_steer_angle: -0.4
max_steer_angle: 0.4
min_steer_control: -100.0
max_steer_control: 100.0
min_steer_control: -68.0
max_steer_control: 75.0
min_speed: -1.5
max_speed: 1.5
min_speed_control: -77.0
max_speed_control: 62.0
min_speed_control: -100.0
max_speed_control: 100.0
control_topic: /adc_car/control
encoders_topic: /adc_car/encoders
......
......@@ -40,7 +40,6 @@
</right>
</laneSection>
</lanes>
<objects />
<signals>
<signal s="1.0000000000000000e+01" t="-5.0000000000000000e+00" id="1001" name="pedestrian0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.5000000000000000e+01" t="5.0000000000000000e+00" id="1002" name="pedestrian0_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" />
......
......@@ -14,10 +14,10 @@
<arg name="delock_format_file" value="$(find iri_adc_launch)/config/adc/delock_camera_config.yaml" />
<arg name="delock_calib_file" value="$(find iri_adc_launch)/calibration/delock_1280x960.yaml" />
<arg name="rplidar_config_file" value="$(find iri_adc_launch)/config/adc/rplidar_config.yaml" />
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
</include>
</launch>
......@@ -10,14 +10,11 @@
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_path" default="$(find iri_adc_launch)/maps"/>
<arg name="opendrive_path" default="$(find iri_adc_launch)/data"/>
<arg name="map_name" default="adc_map" />
<arg name="global_ekf_config_file" default="$(find iri_adc_launch)/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml"/>
<arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/>
<arg name="car_x" default="0.0"/>
<arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
......@@ -60,6 +57,6 @@
<arg name="set_pose_topic" value="/$(arg name)/initialpose"/>
</include>
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
<param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
</launch>
......@@ -34,10 +34,10 @@
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
</include>
<include file="$(find iri_adc_launch)/launch/sample_signals.launch">
<include file="$(find iri_adc_launch)/launch/$(arg road_name)/$(arg road_name)_signals.launch">
</include>
<include file="$(find iri_adc_launch)/launch/sample_objects.launch">
<include file="$(find iri_adc_launch)/launch/$(arg road_name)/$(arg road_name)_objects.launch">
</include>
<include file="$(find iri_road_description)/launch/spawn_road.launch">
......
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