Commit a9a150b8 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Modified launch and config files to adapt to share real and simulation common...

Modified launch and config files to adapt to share real and simulation common config files and launch files
parent 43cdd222
#adc_car:
#model_car:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
......@@ -15,12 +15,16 @@
axel_distance: 0.3662
wheel_distance: 0.216
wheel_diameter: 0.100
encoder_ticks: 60
encoder_ticks: 30
encoder_rate: 40
min_steer_angle: -0.4
max_steer_angle: 0.4
min_steer_control: -100.0
max_steer_control: 100.0
min_speed: -1.5
max_speed: 1.5
min_speed_control: -77.0
max_speed_control: 62.0
control_topic: /adc_car/control
encoders_topic: /adc_car/encoders
......
rate: 100.0
namespace: 'model_car'
tf_prefix: 'model_car'
namespace: 'adc_car'
tf_prefix: 'adc_car'
imu_topic: 'sensors/imu'
accel_offset_x: 0.06
accel_offset_y: 0.06
......
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'model_car/rear_center_ranger1d'
frame_id: 'adc_car/rear_center_ranger1d'
ranger1d_topic: 'sensors/range/rear_center_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'model_car/rear_left_ranger1d'
frame_id: 'adc_car/rear_left_ranger1d'
ranger1d_topic: 'sensors/range/rear_left_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'model_car/rear_right_ranger1d'
frame_id: 'adc_car/rear_right_ranger1d'
ranger1d_topic: 'sensors/range/rear_right_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'model_car/side_left_ranger1d'
frame_id: 'adc_car/side_left_ranger1d'
ranger1d_topic: 'sensors/range/side_left_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -4,7 +4,7 @@ fov: 0.5
min_range: 0.2
max_range: 4.0
resolution: 0.003
frame_id: 'model_car/side_right_ranger1d'
frame_id: 'adc_car/side_right_ranger1d'
ranger1d_topic: 'sensors/range/side_right_sonar'
type: 'ultrasound'
noise: 0.01
......@@ -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/control_config.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc/odometry_config.yaml"/>
<arg name="control_config_file" value="$(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="$(find iri_adc_launch)/config/adc_common/local_ekf_odom_imu.yaml"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
</include>
</launch>
......@@ -20,11 +20,11 @@
<arg name="car_x" value="$(arg car_x)"/>
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_car"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params_no_tf.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(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"/>
</include>
</launch>
......@@ -26,12 +26,12 @@
<arg name="car_x" value="$(arg car_x)"/>
<arg name="car_y" value="$(arg car_y)"/>
<arg name="car_yaw" value="$(arg car_yaw)"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_car"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
<arg name="control_config_file" value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
<arg name="odometry_config_file" value="$(find iri_adc_launch)/config/adc_car_odometry_params_no_tf.yaml"/>
<arg name="cmd_vel_mux_config_file" value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
<arg name="local_ekf_config_file" value="$(find iri_adc_launch)/config//adc_car_local_ekf.yaml"/>
<arg name="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
<arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
<arg name="control_config_file" value="$(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="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
</include>
<include file="$(find iri_adc_launch)/launch/sample_signals.launch">
......
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