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Commit b1992fcc authored by Sergi Hernandez's avatar Sergi Hernandez
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Add ch1 and ch2 files

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data/challenge1/challenge1.xodr 0 → 100644
+ 2498
− 0
View file @ b1992fcc
This diff is collapsed.
data/challenge1/challenge1_goals.yaml 0 → 100644
+ 8
− 0
View file @ b1992fcc
goals:
- id: goal1a
x: 2.74238
y: 4.49999
yaw: 3.14161
type: 1
data/challenge1/landmarks.txt 0 → 100644
+ 93
− 0
View file @ b1992fcc
101.000000 2.867 0.024 0.785398 2
102.000000 2.915 0.024 2.3562 2
103.000000 5.984 0.024 0.785398 2
104.000000 6.032 0.024 2.3562 2
105.000000 9.104 0.024 0.785398 2
106.000000 9.152 0.024 2.3562 2
107.000000 12.006 3.244 2.3562 2
108.000000 12.006 3.292 -2.3562 2
109.000000 12.006 5.976 2.3562 2
110.000000 12.006 6.024 -2.3562 2
111.000000 12.006 8.774 2.3562 2
112.000000 12.006 8.822 -2.3562 2
113.000000 9.104 12.006 -0.785398 2
114.000000 9.152 12.006 -2.3562 2
115.000000 5.984 12.006 -0.785398 2
116.000000 6.032 12.006 -2.3562 2
117.000000 2.024 12.006 -0.785398 2
118.000000 2.072 12.006 -2.3562 2
119.000000 0.024 8.774 0.785398 2
120.000000 0.024 8.822 -0.785398 2
121.000000 0.024 5.976 0.785398 2
122.000000 0.024 6.024 -0.785398 2
123.000000 0.024 3.244 0.785398 2
124.000000 0.024 3.292 -0.785398 2
125.000000 2.867 2.726 -0.785398 2
126.000000 2.915 2.726 -2.3562 2
127.000000 3.624 3.244 0.785398 2
128.000000 3.624 3.292 -0.785398 2
129.000000 2.867 3.744 0.785398 2
130.000000 2.915 3.744 2.3562 2
131.000000 2.176 3.244 2.3562 2
132.000000 2.176 3.292 -2.3562 2
133.000000 5.984 2.496 -0.785398 2
134.000000 6.032 2.496 -2.3562 2
135.000000 6.634 3.244 0.785398 2
136.000000 6.634 3.292 -0.785398 2
137.000000 5.984 3.929 0.785398 2
138.000000 6.032 3.929 2.3562 2
139.000000 5.118 3.244 2.3562 2
140.000000 5.118 3.292 -2.3562 2
141.000000 9.104 2.496 -0.785398 2
142.000000 9.152 2.496 -2.3562 2
143.000000 9.884 3.244 0.785398 2
144.000000 9.884 3.292 -0.785398 2
145.000000 9.104 3.954 0.785398 2
146.000000 9.152 3.954 2.3562 2
147.000000 8.866 3.244 2.3562 2
148.000000 8.866 3.292 -2.3562 2
149.000000 9.104 8.186 -0.785398 2
150.000000 9.152 8.186 -2.3562 2
151.000000 9.854 8.774 0.785398 2
152.000000 9.854 8.822 -0.785398 2
153.000000 9.104 9.404 0.785398 2
154.000000 9.152 9.404 2.3562 2
155.000000 8.416 8.774 2.3562 2
156.000000 8.416 8.822 -2.3562 2
157.000000 5.984 8.066 -0.785398 2
158.000000 6.032 8.066 -2.3562 2
159.000000 6.734 8.774 0.785398 2
160.000000 6.734 8.822 -0.785398 2
161.000000 5.984 9.514 0.785398 2
162.000000 6.032 9.514 2.3562 2
163.000000 5.286 8.774 2.3562 2
164.000000 5.286 8.822 -2.3562 2
165.000000 2.867 8.186 -0.785398 2
166.000000 2.915 8.186 -2.3562 2
167.000000 3.624 8.774 0.785398 2
168.000000 3.624 8.822 -0.785398 2
169.000000 2.867 9.404 0.785398 2
170.000000 2.915 9.404 2.3562 2
171.000000 2.186 8.908 2.3562 2
172.000000 2.186 8.956 -2.3562 2
173.000000 2.867 5.286 -0.785398 2
174.000000 2.915 5.286 -2.3562 2
175.000000 3.624 5.976 0.785398 2
176.000000 3.624 6.024 -0.785398 2
177.000000 2.867 6.734 0.785398 2
178.000000 2.915 6.734 2.3562 2
179.000000 2.176 5.976 2.3562 2
180.000000 2.176 6.024 -2.3562 2
181.000000 5.984 5.286 -0.785398 2
182.000000 6.032 5.286 -2.3562 2
183.000000 6.724 5.976 0.785398 2
184.000000 6.724 6.024 -0.785398 2
185.000000 5.984 6.714 0.785398 2
186.000000 6.032 6.714 2.3562 2
187.000000 5.276 5.976 2.3562 2
188.000000 5.276 6.024 -2.3562 2
189.000000 9.256 6.024 0.785398 2
190.000000 9.304 6.024 2.3562 2
191.000000 9.256 5.976 -0.785398 2
192.000000 9.304 5.976 -2.3562 2
193.000000 7.380 0.800 1.57079 3
data/challenge2/challenge2.xodr 0 → 100644
+ 2559
− 0
View file @ b1992fcc
This diff is collapsed.
data/challenge2/challenge2_goals.yaml 0 → 100644
+ 19
− 0
View file @ b1992fcc
goals:
- id: goal1
x: 6.16186
y: 4.6
yaw: 3.14146
type: 1
- id: goal2
x: 2.84127
y: 4.47998
yaw: 0.00001
type: 1
- id: goal3
x: 3.07944
y: 7.497
yaw: 0.00001
type: 1
data/challenge2/landmarks.txt 0 → 100644
+ 97
− 0
View file @ b1992fcc
101.000000 2.867 0.024 0.785398 2
102.000000 2.915 0.024 2.3562 2
103.000000 5.984 0.024 0.785398 2
104.000000 6.032 0.024 2.3562 2
105.000000 9.104 0.024 0.785398 2
106.000000 9.152 0.024 2.3562 2
107.000000 12.006 3.244 2.3562 2
108.000000 12.006 3.292 -2.3562 2
109.000000 12.006 5.976 2.3562 2
110.000000 12.006 6.024 -2.3562 2
111.000000 12.006 8.774 2.3562 2
112.000000 12.006 8.822 -2.3562 2
113.000000 9.104 12.006 -0.785398 2
114.000000 9.152 12.006 -2.3562 2
115.000000 5.984 12.006 -0.785398 2
116.000000 6.032 12.006 -2.3562 2
117.000000 2.024 12.006 -0.785398 2
118.000000 2.072 12.006 -2.3562 2
119.000000 0.024 8.774 0.785398 2
120.000000 0.024 8.822 -0.785398 2
121.000000 0.024 5.976 0.785398 2
122.000000 0.024 6.024 -0.785398 2
123.000000 0.024 3.244 0.785398 2
124.000000 0.024 3.292 -0.785398 2
125.000000 2.867 2.726 -0.785398 2
126.000000 2.915 2.726 -2.3562 2
127.000000 3.624 3.244 0.785398 2
128.000000 3.624 3.292 -0.785398 2
129.000000 2.867 3.744 0.785398 2
130.000000 2.915 3.744 2.3562 2
131.000000 2.176 3.244 2.3562 2
132.000000 2.176 3.292 -2.3562 2
133.000000 5.984 2.496 -0.785398 2
134.000000 6.032 2.496 -2.3562 2
135.000000 6.634 3.244 0.785398 2
136.000000 6.634 3.292 -0.785398 2
137.000000 5.984 3.929 0.785398 2
138.000000 6.032 3.929 2.3562 2
139.000000 5.118 3.244 2.3562 2
140.000000 5.118 3.292 -2.3562 2
141.000000 9.104 2.496 -0.785398 2
142.000000 9.152 2.496 -2.3562 2
143.000000 9.884 3.244 0.785398 2
144.000000 9.884 3.292 -0.785398 2
145.000000 9.104 3.954 0.785398 2
146.000000 9.152 3.954 2.3562 2
147.000000 8.866 3.244 2.3562 2
148.000000 8.866 3.292 -2.3562 2
149.000000 9.104 8.186 -0.785398 2
150.000000 9.152 8.186 -2.3562 2
151.000000 9.854 8.774 0.785398 2
152.000000 9.854 8.822 -0.785398 2
153.000000 9.104 9.404 0.785398 2
154.000000 9.152 9.404 2.3562 2
155.000000 8.416 8.774 2.3562 2
156.000000 8.416 8.822 -2.3562 2
157.000000 5.984 8.066 -0.785398 2
158.000000 6.032 8.066 -2.3562 2
159.000000 6.734 8.774 0.785398 2
160.000000 6.734 8.822 -0.785398 2
161.000000 5.984 9.514 0.785398 2
162.000000 6.032 9.514 2.3562 2
163.000000 5.286 8.774 2.3562 2
164.000000 5.286 8.822 -2.3562 2
165.000000 2.867 8.186 -0.785398 2
166.000000 2.915 8.186 -2.3562 2
167.000000 3.624 8.774 0.785398 2
168.000000 3.624 8.822 -0.785398 2
169.000000 2.867 9.404 0.785398 2
170.000000 2.915 9.404 2.3562 2
171.000000 2.186 8.908 2.3562 2
172.000000 2.186 8.956 -2.3562 2
173.000000 2.867 5.286 -0.785398 2
174.000000 2.915 5.286 -2.3562 2
175.000000 3.624 5.976 0.785398 2
176.000000 3.624 6.024 -0.785398 2
177.000000 2.867 6.734 0.785398 2
178.000000 2.915 6.734 2.3562 2
179.000000 2.176 5.976 2.3562 2
180.000000 2.176 6.024 -2.3562 2
181.000000 5.984 5.286 -0.785398 2
182.000000 6.032 5.286 -2.3562 2
183.000000 6.724 5.976 0.785398 2
184.000000 6.724 6.024 -0.785398 2
185.000000 5.984 6.714 0.785398 2
186.000000 6.032 6.714 2.3562 2
187.000000 5.276 5.976 2.3562 2
188.000000 5.276 6.024 -2.3562 2
189.000000 9.256 6.024 0.785398 2
190.000000 9.304 6.024 2.3562 2
191.000000 9.256 5.976 -0.785398 2
192.000000 9.304 5.976 -2.3562 2
193.000000 7.324002 11.196006 -1.570799 3
196.000000 4.838000 6.882000 -0.000000 1
198.000000 7.983994 9.461023 0.000012 4
199.000000 4.002000 2.555500 -3.141587 4
200.000000 7.123069 3.450018 -0.000096 4
rviz/adc_car.rviz
+ 7
− 106
View file @ b1992fcc
...@@ -31,7 +31,7 @@ Panels: ...@@ -31,7 +31,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: LaserScan SyncSource: ""
Preferences: Preferences:
PromptSaveOnExit: true PromptSaveOnExit: true
Toolbars: Toolbars:
...@@ -202,110 +202,13 @@ Visualization Manager: ...@@ -202,110 +202,13 @@ Visualization Manager:
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
adc_car/base_footprint:
Value: true
adc_car/base_link:
Value: true
adc_car/body:
Value: true
adc_car/front_camera_uvc_camera_base:
Value: true
adc_car/front_camera_uvc_camera_optical:
Value: true
adc_car/front_left_wheel:
Value: true
adc_car/front_lidar_rplidar_base:
Value: true
adc_car/front_lidar_rplidar_scan_frame:
Value: true
adc_car/front_right_wheel:
Value: true
adc_car/imu_mpu9250:
Value: true
adc_car/imu_mpu9250_base:
Value: true
adc_car/odom:
Value: true
adc_car/rear_camera_uvc_camera_base:
Value: true
adc_car/rear_camera_uvc_camera_optical:
Value: true
adc_car/rear_center_base:
Value: true
adc_car/rear_center_ranger1d:
Value: true
adc_car/rear_left_base:
Value: true
adc_car/rear_left_ranger1d:
Value: true
adc_car/rear_left_wheel:
Value: true
adc_car/rear_right_base:
Value: true
adc_car/rear_right_ranger1d:
Value: true
adc_car/rear_right_wheel:
Value: true
adc_car/side_left_base:
Value: true
adc_car/side_left_ranger1d:
Value: true
adc_car/side_right_base:
Value: true
adc_car/side_right_ranger1d:
Value: true
adc_car/steer_left:
Value: true
adc_car/steer_right:
Value: true
Marker Scale: 0.25 Marker Scale: 0.25
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: true Show Names: true
Tree: Tree:
adc_car/odom: {}
adc_car/base_footprint:
adc_car/base_link:
adc_car/body:
{}
adc_car/front_camera_uvc_camera_base:
adc_car/front_camera_uvc_camera_optical:
{}
adc_car/front_lidar_rplidar_base:
adc_car/front_lidar_rplidar_scan_frame:
{}
adc_car/imu_mpu9250_base:
adc_car/imu_mpu9250:
{}
adc_car/rear_camera_uvc_camera_base:
adc_car/rear_camera_uvc_camera_optical:
{}
adc_car/rear_center_base:
adc_car/rear_center_ranger1d:
{}
adc_car/rear_left_base:
adc_car/rear_left_ranger1d:
{}
adc_car/rear_left_wheel:
{}
adc_car/rear_right_base:
adc_car/rear_right_ranger1d:
{}
adc_car/rear_right_wheel:
{}
adc_car/side_left_base:
adc_car/side_left_ranger1d:
{}
adc_car/side_right_base:
adc_car/side_right_ranger1d:
{}
adc_car/steer_left:
adc_car/front_left_wheel:
{}
adc_car/steer_right:
adc_car/front_right_wheel:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
Enabled: true Enabled: true
...@@ -487,9 +390,7 @@ Visualization Manager: ...@@ -487,9 +390,7 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 47
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 47
Name: LaserScan Name: LaserScan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -512,7 +413,7 @@ Visualization Manager: ...@@ -512,7 +413,7 @@ Visualization Manager:
Unreliable: false Unreliable: false
Value: false Value: false
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: false
Image Topic: /adc_car/sensors/basler_camera/image_raw Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
...@@ -522,9 +423,9 @@ Visualization Manager: ...@@ -522,9 +423,9 @@ Visualization Manager:
Queue Size: 2 Queue Size: 2
Transport Hint: compressed Transport Hint: compressed
Unreliable: false Unreliable: false
Value: true Value: false
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: false
Image Topic: /adc_car/sensors/delock_camera/image_raw Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
...@@ -534,7 +435,7 @@ Visualization Manager: ...@@ -534,7 +435,7 @@ Visualization Manager:
Queue Size: 2 Queue Size: 2
Transport Hint: compressed Transport Hint: compressed
Unreliable: false Unreliable: false
Value: true Value: false
Enabled: true Enabled: true
Name: Sensors Name: Sensors
Enabled: true Enabled: true
...@@ -593,7 +494,7 @@ Window Geometry: ...@@ -593,7 +494,7 @@ Window Geometry:
Height: 1025 Height: 1025
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001d10000001600fffffffb0000001200520065006100720049006d0061006700650100000214000001d00000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065000000003d000001d10000001600fffffffb0000001200520065006100720049006d006100670065000000003d000003a70000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005e1000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage: RearImage:
collapsed: false collapsed: false
Selection: Selection:
......
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