diff --git a/data/challenge1/challenge1.xodr b/data/challenge1/challenge1.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..3a1f52624f118d2b1351a9bd44df25b2806a688e
--- /dev/null
+++ b/data/challenge1/challenge1.xodr
@@ -0,0 +1,2498 @@
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diff --git a/data/challenge1/challenge1_goals.yaml b/data/challenge1/challenge1_goals.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..757a9345502d25f91c129f0f333a64d637d1a916
--- /dev/null
+++ b/data/challenge1/challenge1_goals.yaml
@@ -0,0 +1,8 @@
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+ y: 4.49999
+ yaw: 3.14161
+ type: 1
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diff --git a/data/challenge1/landmarks.txt b/data/challenge1/landmarks.txt
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diff --git a/data/challenge2/challenge2.xodr b/data/challenge2/challenge2.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..ca386ce293d08ecb27c59c93a7f248d0378421ab
--- /dev/null
+++ b/data/challenge2/challenge2.xodr
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diff --git a/data/challenge2/challenge2_goals.yaml b/data/challenge2/challenge2_goals.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c9214600e5121519b51ed53b91482c4532cde7c4
--- /dev/null
+++ b/data/challenge2/challenge2_goals.yaml
@@ -0,0 +1,19 @@
+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
+
diff --git a/data/challenge2/landmarks.txt b/data/challenge2/landmarks.txt
new file mode 100644
index 0000000000000000000000000000000000000000..829eae9bf34d151034beb5a63eafb039c11d593e
--- /dev/null
+++ b/data/challenge2/landmarks.txt
@@ -0,0 +1,97 @@
+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
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+107.000000 12.006 3.244 2.3562 2
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+193.000000 7.324002 11.196006 -1.570799 3
+196.000000 4.838000 6.882000 -0.000000 1
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diff --git a/rviz/adc_car.rviz b/rviz/adc_car.rviz
index 5828a85d4f10549915b95b546d327c27627f06cf..0cd1a6f7c79bb209738ef827ee12568f93dfeacc 100644
--- a/rviz/adc_car.rviz
+++ b/rviz/adc_car.rviz
@@ -31,7 +31,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: LaserScan
+ SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -202,110 +202,13 @@ Visualization Manager:
Frame Timeout: 15
Frames:
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
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
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
Value: true
Enabled: true
@@ -487,9 +390,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 47
Min Color: 0; 0; 0
- Min Intensity: 47
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
@@ -512,7 +413,7 @@ Visualization Manager:
Unreliable: false
Value: false
- Class: rviz/Image
- Enabled: true
+ Enabled: false
Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
@@ -522,9 +423,9 @@ Visualization Manager:
Queue Size: 2
Transport Hint: compressed
Unreliable: false
- Value: true
+ Value: false
- Class: rviz/Image
- Enabled: true
+ Enabled: false
Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
@@ -534,7 +435,7 @@ Visualization Manager:
Queue Size: 2
Transport Hint: compressed
Unreliable: false
- Value: true
+ Value: false
Enabled: true
Name: Sensors
Enabled: true
@@ -593,7 +494,7 @@ Window Geometry:
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001d10000001600fffffffb0000001200520065006100720049006d0061006700650100000214000001d00000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065000000003d000001d10000001600fffffffb0000001200520065006100720049006d006100670065000000003d000003a70000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005e1000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage:
collapsed: false
Selection: