Commit b520ec9f authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to new config file distributions. Added bringup launch file

parent 091e2724
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. ]
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]
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
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
vendor: '0x090c'
product: '0xf37d'
serial: ""
index: 0
width: 1280
height: 960
frame_id: 'model_car/rear_camera_uvc_camera_optical'
video_mode: 'mjpeg'
frame_rate: 30.0
rate: 100
imu_frame_id: model_car/imu_mpu9250
gyro_cal_samples: 100
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
serial_port: "/dev/ttyUSB0"
serial_baudrate: 115200
frame_id: "model_car/front_lidar_rplidar_scan_frame"
inverted: false
angle_compensate: true
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
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]
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"
horizontal_fov: 2.25
width: 1280
height: 960
width: 640
height: 480
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
......
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
......
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......
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