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

config/adc_car_controller_config.yaml → config/adc_sim/adc_controller_config.yaml

-#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
     

config/adc_sim/mpu9250_imu_config.yaml

 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

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

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

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

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

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

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>

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>

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">