From a9a150b8d7679a1e237d96a545f53cdfe700318e Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Wed, 10 Mar 2021 11:15:01 +0100
Subject: [PATCH] Modified launch and config files to adapt to share real and
simulation common config files and launch files
---
.../adc_control_config.yaml} | 0
...ekf_odom_imu.yaml => adc_local_ekf_odom_imu.yaml} | 0
.../adc_odometry_config.yaml} | 0
.../adc_controller_config.yaml} | 8 ++++++--
config/adc_sim/mpu9250_imu_config.yaml | 4 ++--
config/adc_sim/rear_center_sonar_config.yaml | 2 +-
config/adc_sim/rear_left_sonar_config.yaml | 2 +-
config/adc_sim/rear_right_sonar_config.yaml | 2 +-
config/adc_sim/side_left_sonar_config.yaml | 2 +-
config/adc_sim/side_right_sonar_config.yaml | 2 +-
launch/adc_bringup.launch | 6 +++---
launch/adc_sim.launch | 10 +++++-----
launch/adc_sim_env.launch | 12 ++++++------
13 files changed, 27 insertions(+), 23 deletions(-)
rename config/{adc/control_config.yaml => adc_common/adc_control_config.yaml} (100%)
rename config/adc_common/{local_ekf_odom_imu.yaml => adc_local_ekf_odom_imu.yaml} (100%)
rename config/{adc/odometry_config.yaml => adc_common/adc_odometry_config.yaml} (100%)
rename config/{adc_car_controller_config.yaml => adc_sim/adc_controller_config.yaml} (91%)
diff --git a/config/adc/control_config.yaml b/config/adc_common/adc_control_config.yaml
similarity index 100%
rename from config/adc/control_config.yaml
rename to config/adc_common/adc_control_config.yaml
diff --git a/config/adc_common/local_ekf_odom_imu.yaml b/config/adc_common/adc_local_ekf_odom_imu.yaml
similarity index 100%
rename from config/adc_common/local_ekf_odom_imu.yaml
rename to config/adc_common/adc_local_ekf_odom_imu.yaml
diff --git a/config/adc/odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml
similarity index 100%
rename from config/adc/odometry_config.yaml
rename to config/adc_common/adc_odometry_config.yaml
diff --git a/config/adc_car_controller_config.yaml b/config/adc_sim/adc_controller_config.yaml
similarity index 91%
rename from config/adc_car_controller_config.yaml
rename to config/adc_sim/adc_controller_config.yaml
index d1b958a..8ed18e4 100644
--- a/config/adc_car_controller_config.yaml
+++ b/config/adc_sim/adc_controller_config.yaml
@@ -1,4 +1,4 @@
-#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
diff --git a/config/adc_sim/mpu9250_imu_config.yaml b/config/adc_sim/mpu9250_imu_config.yaml
index 52d7790..5ff9a08 100644
--- a/config/adc_sim/mpu9250_imu_config.yaml
+++ b/config/adc_sim/mpu9250_imu_config.yaml
@@ -1,6 +1,6 @@
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
diff --git a/config/adc_sim/rear_center_sonar_config.yaml b/config/adc_sim/rear_center_sonar_config.yaml
index c57811c..c63338f 100644
--- a/config/adc_sim/rear_center_sonar_config.yaml
+++ b/config/adc_sim/rear_center_sonar_config.yaml
@@ -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
diff --git a/config/adc_sim/rear_left_sonar_config.yaml b/config/adc_sim/rear_left_sonar_config.yaml
index eb9e61e..4a17277 100644
--- a/config/adc_sim/rear_left_sonar_config.yaml
+++ b/config/adc_sim/rear_left_sonar_config.yaml
@@ -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
diff --git a/config/adc_sim/rear_right_sonar_config.yaml b/config/adc_sim/rear_right_sonar_config.yaml
index ed02ce3..96a2039 100644
--- a/config/adc_sim/rear_right_sonar_config.yaml
+++ b/config/adc_sim/rear_right_sonar_config.yaml
@@ -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
diff --git a/config/adc_sim/side_left_sonar_config.yaml b/config/adc_sim/side_left_sonar_config.yaml
index 0cb6214..fbcf3c6 100644
--- a/config/adc_sim/side_left_sonar_config.yaml
+++ b/config/adc_sim/side_left_sonar_config.yaml
@@ -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
diff --git a/config/adc_sim/side_right_sonar_config.yaml b/config/adc_sim/side_right_sonar_config.yaml
index 050078c..c1bb4a1 100644
--- a/config/adc_sim/side_right_sonar_config.yaml
+++ b/config/adc_sim/side_right_sonar_config.yaml
@@ -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
diff --git a/launch/adc_bringup.launch b/launch/adc_bringup.launch
index bcc4cb1..40b3139 100644
--- a/launch/adc_bringup.launch
+++ b/launch/adc_bringup.launch
@@ -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="$(find iri_adc_launch)/config/adc_sim"/>
</include>
</launch>
diff --git a/launch/adc_sim.launch b/launch/adc_sim.launch
index 945c8b0..7092be1 100644
--- a/launch/adc_sim.launch
+++ b/launch/adc_sim.launch
@@ -20,11 +20,11 @@
<arg name="car_x" value="$(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>
diff --git a/launch/adc_sim_env.launch b/launch/adc_sim_env.launch
index af2c5e2..d714843 100644
--- a/launch/adc_sim_env.launch
+++ b/launch/adc_sim_env.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">
--
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