Adapted to new config file distributions. Added bringup launch file

calibration/basler_1280x960.yaml

+image_width: 1280
+image_height: 960
+camera_name: basler
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 614.21032,    0.     ,  609.0955 ,
+            0.     ,  586.95299,  474.1858 ,
+            0.     ,    0.     ,    1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.303012, 0.078540, -0.004561, -0.000561, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 452.98874,    0.     ,  608.18905,    0.     ,
+            0.     ,  440.00012,  456.24679,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
+

calibration/delock_1280x960.yaml

+image_width: 1280
+image_height: 960
+camera_name: camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [744.492923, 0, 602.268315, 0, 743.285879, 502.094536, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.324192, 0.08111499999999999, 0.002398, 0.000735, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [530.792297, 0, 597.76504, 0, 0, 617.536865, 517.314024, 0, 0, 0, 1, 0]

config/adc/basler_camera_config.yaml

+startup_user_set: "CurrentSetting"
+#  The tf frame under which the images were published
+camera_frame: model_car/front_camera_uvc_camera_optical
+
+#  The DeviceUserID of the camera. If empty, the first camera found in the
+#  device list will be used
+device_user_id: ""
+#device_user_id: "basler"
+
+#  The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic
+#  camera calibration parameters are stored. This URL string will be parsed
+#  from the ROS-CameraInfoManager:
+#  http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_
+#  1_1CameraInfoManager.html#details
+# camera_info_url: ""
+camera_info_url: "file:///home/adc/model_car_ws/src/platforms/model_car/iri_model_car_bringup/calibration/basler_1280x960.yaml"
+
+#  The encoding of the pixels -- channel meaning, ordering, size
+#  taken from the list of strings in include/sensor_msgs/image_encodings.h
+#  The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8',
+#  'bayer_gbrg8' and 'bayer_rggb8'
+#  Default values are 'mono8' and 'rgb8'
+image_encoding: "rgb8"
+
+#  Binning factor to get downsampled images. It refers here to any camera
+#  setting which combines rectangular neighborhoods of pixels into larger
+#  "super-pixels." It reduces the resolution of the output image to
+#  (width / binning_x) x (height / binning_y).
+#  The default values binning_x = binning_y = 0 are considered the same
+#  as binning_x = binning_y = 1 (no subsampling).
+# binning_x: 1
+# binning_y: 1
+
+#  The desired publisher frame rate if listening to the topics.
+#  This parameter can only be set once at startup
+#  Calling the GrabImages-Action can result in a higher framerate
+frame_rate: 15.0
+
+#  Mode of camera's shutter.
+#  The supported modes are "rolling", "global" and "global_reset"
+#  Default value is "" (empty) means default_shutter_mode
+shutter_mode: "global"
+
+##########################################################################
+######################## Image Intensity Settings ########################
+##########################################################################
+# The following settings do *NOT* have to be set. Each camera has default
+# values which provide an automatic image adjustment resulting in valid
+# images
+##########################################################################
+
+#  The exposure time in microseconds to be set after opening the camera.
+# exposure: 10000.0
+
+#  The target gain in percent of the maximal value the camera supports
+#  For USB-Cameras, the gain is in dB, for GigE-Cameras it is given in so
+#  called 'device specific units'.
+# gain: 0.5
+
+#  Gamma correction of pixel intensity.
+#  Adjusts the brightness of the pixel values output by the camera's sensor
+#  to account for a non-linearity in the human perception of brightness or
+#  of the display system (such as CRT).
+# gamma: 1.0
+
+#  The average intensity value of the images. It depends the exposure time
+#  as well as the gain setting. If 'exposure' is provided, the interface will
+#  try to reach the desired brightness by only varying the gain. (What may
+#  often fail, because the range of possible exposure vaules is many
+#  times higher than the gain range). If 'gain' is provided, the interface will
+#  try to reach the desired brightness by only varying the exposure time. If
+#  gain AND exposure are given, it is not possible to reach the brightness,
+#  because both are assumed to be fix.
+# brightness: 100
+
+#  Only relevant, if 'brightness' is set:
+#  The brightness_continuous flag controls the auto brightness function.
+#  If it is set to false, the brightness will only be reached once.
+#  Hence changing light conditions lead to changing brightness values.
+#  If it is set to true, the given brightness will be reached continuously,
+#  trying to adapt to changing light conditions. This is only possible for
+#  values in the possible auto range of the pylon API which is e.g. [50 - 205]
+#  for acA2500-14um and acA1920-40gm
+# brightness_continuous: true
+
+#  Only relevant, if 'brightness' is set:
+#  If the camera should try to reach and / or keep the brightness, hence
+#  adapting to changing light conditions, at least one of the following flags
+#  must be set.
+#  If both are set, the interface will use the profile that tries to keep the
+#  gain at minimum to reduce white noise.
+#  The exposure_auto flag indicates, that the desired brightness will be
+#  reached by adapting the exposure time.
+#  The gain_auto flag indicates, that the desired brightness will be
+#  reached by adapting the gain.
+# exposure_auto: true
+# gain_auto: true
+
+##########################################################################
+
+#  The timeout while searching the exposure which is connected to the
+#  desired brightness. For slow system this has to be increased.
+# exposure_search_timeout: 5.0
+
+#  The exposure search can be limited with an upper bound. This is to prevent
+#  very high exposure times and resulting timeouts.
+#  A typical value for this upper bound is ~2000000us.
+# auto_exposure_upper_limit: 2000000.0
+
+#  The MTU size. Only used for GigE cameras.
+#  To prevent lost frames configure the camera has to be configured
+#  with the MTU size the network card supports. A value greater 3000
+#  should be good (1500 for RaspberryPI)
+# gige:
+#  mtu_size: 3000
+
+#  Only used for GigE cameras.
+#  The inter-package delay in ticks to prevent lost frames.
+#  For most of GigE-Cameras, a value of 1000 is reasonable.
+#  For cameras used on a RaspberryPI this value should be set to 11772.
+# gige:
+#  inter_pkg_delay: 1000

config/adc/battery_config.yaml

+rate: 100
+

config/adc/control_config.yaml

+rate: 40
+speed_Kp: 20.0
+speed_Ki: 50.0
+speed_Kd: 0.00
+speed_i_max: 20.0
+speed_deadband: 0.1
+watchdog_time: 0.5
+axel_distance: 0.3662
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_speed_control: 20.0
+min_speed_control: -20.0
+max_steer_control: 62.0
+min_steer_control: -77.0
+

config/adc/delock_96368.yaml

+vendor: '0x090c'
+product: '0xf37d'
+serial: ""
+index: 0

config/adc/delock_camera_config.yaml

+width: 1280
+height: 960
+frame_id: 'model_car/rear_camera_uvc_camera_optical'
+video_mode: 'mjpeg'
+frame_rate: 30.0

config/adc/egomotion_config.yaml

+rate: 100
+imu_frame_id: model_car/imu_mpu9250
+gyro_cal_samples: 100
+

config/adc/odometry_config.yaml

+rate: 40
+odom_frame: "model_car/odom"
+robot_frame: "model_car/base_footprint"
+encoder_ticks: 30
+wheel_diameter: 0.100
+wheel_distance: 0.216
+axel_distance: 0.3662
+filter_coeff: 0.3
+speed_deadband: 0.1
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_steer_control: 62.0
+min_steer_control: -77.0
+publish_tf: False
+

config/adc/rplidar_config.yaml

+serial_port: "/dev/ttyUSB0"
+serial_baudrate: 115200
+frame_id: "model_car/front_lidar_rplidar_scan_frame"
+inverted: false
+angle_compensate: true
+

config/adc/ultrasounds_config.yaml

+rate: 100
+side_right_frame_id: model_car/side_right_ranger1d
+rear_right_frame_id: model_car/rear_right_ranger1d
+rear_center_frame_id: model_car/rear_center_ranger1d
+rear_left_frame_id: model_car/rear_left_ranger1d
+side_left_frame_id: model_car/side_left_ranger1d
+

config/adc_common/local_ekf_odom_imu.yaml

+frequency: 30
+sensor_timeout: 1.0
+transform_time_offset: 0.0
+two_d_mode: true
+print_diagnostics: true
+debug: false
+debug_out_file: /tmp/debug_ekf_localization.txt
+use_control: false
+control_config: [true, false, false, false, false, true]
+
+publish_tf: true
+map_frame: map
+odom_frame: model_car/odom
+base_link_frame: model_car/base_footprint
+world_frame: model_car/odom
+
+odom0: /model_car/odom
+odom0_config: [false, false, false,
+               false, false, false,
+               true,  false, false,
+               false, false, true,
+               false, false, false]
+
+imu0: /model_car/sensors/imu_data
+imu0_config: [false, false, false,
+              false, false, true,
+              false, false, false,
+              false, false, true,
+              false,  false, false]
+
+imu0_differential: false
+imu0_relative: true
+imu0_remove_gravitational_acceleration: true
+
+#meaning_config: [x,     y,      z,
+#                 roll,  pitch,  yaw,
+#                 vx,    vy,     vz,
+#                 vroll, vpitch, vyaw,
+#                 ax,    ay,     az]

config/adc_common/mux.yaml

+subscribers:
+  - name:        "Default input"
+    topic:       "/model_car/default/cmd_vel"
+    timeout:     0.1
+    priority:    0
+    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
+
+  - name:        "Navigation stack"
+    topic:       "/model_car/navigation/cmd_vel"
+    timeout:     0.5
+    priority:    5
+    short_desc:  "Navigation stack controller"
+
+  - name:        "Teleop"
+    topic:       "/model_car/teleop/cmd_vel"
+    timeout:     0.1
+    priority:    10
+    short_desc:  "Teleoperation"
+
+publisher:       "/model_car/cmd_vel"

config/adc_car/basler_camera_sim_config.yaml → config/adc_sim/basler_camera_sim_config.yaml

 horizontal_fov: 2.25
-width: 1280
-height: 960
+width: 640
+height: 480
 format: 'R8G8B8'
 clip_near: 0.1
 clip_far: 100

config/adc_car/mpu9250_imu_config.yaml → config/adc_sim/mpu9250_imu_config.yaml

 rate: 100.0
-namespace: 'adc_car'
-tf_prefix: 'adc_car'
+namespace: 'model_car'
+tf_prefix: 'model_car'
 imu_topic: 'sensors/imu'
 accel_offset_x: 0.06
 accel_offset_y: 0.06
@@ -11,15 +11,15 @@ accel_drift_z: 0.001
 accel_noise_x: 0.008
 accel_noise_y: 0.008
 accel_noise_z: 0.008
-rate_offset_x: 5.0
-rate_offset_y: 5.0
-rate_offset_z: 5.0
-rate_drift_x: 0.015
-rate_drift_y: 0.015
-rate_drift_z: 0.015
-rate_noise_x: 0.1
-rate_noise_y: 0.1
-rate_noise_z: 0.1
+rate_offset_x: 0.0
+rate_offset_y: 0.0
+rate_offset_z: 0.0
+rate_drift_x: 0.0015
+rate_drift_y: 0.0015
+rate_drift_z: 0.0015
+rate_noise_x: 0.01
+rate_noise_y: 0.01
+rate_noise_z: 0.01
 heading_offset: 0.0
 heading_drift: 0.0
 heading_noise: 0.0

config/adc_car/rear_center_sonar_config.yaml → 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: 'adc_car/rear_center_ranger1d'
+frame_id: 'model_car/rear_center_ranger1d'
 ranger1d_topic: 'sensors/range/rear_center_sonar'
 type: 'ultrasound'
 noise: 0.01

config/adc_car/rear_left_sonar_config.yaml → 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: 'adc_car/rear_left_ranger1d'
+frame_id: 'model_car/rear_left_ranger1d'
 ranger1d_topic: 'sensors/range/rear_left_sonar'
 type: 'ultrasound'
 noise: 0.01

config/adc_car/rear_right_sonar_config.yaml → 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: 'adc_car/rear_right_ranger1d'
+frame_id: 'model_car/rear_right_ranger1d'
 ranger1d_topic: 'sensors/range/rear_right_sonar'
 type: 'ultrasound'
 noise: 0.01

config/adc_car/rp_lidar_config.yaml → config/adc_sim/rp_lidar_config.yaml

@@ -8,8 +8,8 @@ visualize: false
 update_rate: 10
 samples: 400
 resolution: 1
-min_angle: -1.5708
-max_angle: 1.5708
+min_angle: 1.5708
+max_angle: 4.71229
 range_min: 0.15
 range_max: 6.0
 range_resolution: 0.05