From b520ec9fb9124caf92be6ed12a0b28f721f50c9e Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Tue, 9 Mar 2021 17:10:06 +0100
Subject: [PATCH] Adapted to new config file distributions. Added bringup
launch file
---
calibration/basler_1280x960.yaml | 27 ++++
calibration/delock_1280x960.yaml | 20 +++
config/adc/basler_camera_config.yaml | 122 ++++++++++++++++++
config/adc/battery_config.yaml | 2 +
config/adc/control_config.yaml | 15 +++
config/adc/delock_96368.yaml | 4 +
config/adc/delock_camera_config.yaml | 5 +
config/adc/egomotion_config.yaml | 4 +
config/adc/odometry_config.yaml | 15 +++
config/adc/rplidar_config.yaml | 6 +
config/adc/ultrasounds_config.yaml | 7 +
config/adc_common/local_ekf_odom_imu.yaml | 39 ++++++
config/adc_common/mux.yaml | 20 +++
.../basler_camera_sim_config.yaml | 4 +-
.../delock_camera_sim_config.yaml | 0
.../mpu9250_imu_config.yaml | 22 ++--
.../rear_center_sonar_config.yaml | 2 +-
.../rear_left_sonar_config.yaml | 2 +-
.../rear_right_sonar_config.yaml | 2 +-
.../{adc_car => adc_sim}/rp_lidar_config.yaml | 4 +-
.../side_left_sonar_config.yaml | 2 +-
.../side_right_sonar_config.yaml | 2 +-
launch/adc_bringup.launch | 23 ++++
23 files changed, 329 insertions(+), 20 deletions(-)
create mode 100644 calibration/basler_1280x960.yaml
create mode 100644 calibration/delock_1280x960.yaml
create mode 100644 config/adc/basler_camera_config.yaml
create mode 100644 config/adc/battery_config.yaml
create mode 100644 config/adc/control_config.yaml
create mode 100644 config/adc/delock_96368.yaml
create mode 100644 config/adc/delock_camera_config.yaml
create mode 100644 config/adc/egomotion_config.yaml
create mode 100644 config/adc/odometry_config.yaml
create mode 100644 config/adc/rplidar_config.yaml
create mode 100644 config/adc/ultrasounds_config.yaml
create mode 100644 config/adc_common/local_ekf_odom_imu.yaml
create mode 100644 config/adc_common/mux.yaml
rename config/{adc_car => adc_sim}/basler_camera_sim_config.yaml (93%)
rename config/{adc_car => adc_sim}/delock_camera_sim_config.yaml (100%)
rename config/{adc_car => adc_sim}/mpu9250_imu_config.yaml (56%)
rename config/{adc_car => adc_sim}/rear_center_sonar_config.yaml (79%)
rename config/{adc_car => adc_sim}/rear_left_sonar_config.yaml (79%)
rename config/{adc_car => adc_sim}/rear_right_sonar_config.yaml (79%)
rename config/{adc_car => adc_sim}/rp_lidar_config.yaml (88%)
rename config/{adc_car => adc_sim}/side_left_sonar_config.yaml (79%)
rename config/{adc_car => adc_sim}/side_right_sonar_config.yaml (79%)
create mode 100644 launch/adc_bringup.launch
diff --git a/calibration/basler_1280x960.yaml b/calibration/basler_1280x960.yaml
new file mode 100644
index 0000000..b9b7b76
--- /dev/null
+++ b/calibration/basler_1280x960.yaml
@@ -0,0 +1,27 @@
+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. ]
+
diff --git a/calibration/delock_1280x960.yaml b/calibration/delock_1280x960.yaml
new file mode 100644
index 0000000..bcba3d1
--- /dev/null
+++ b/calibration/delock_1280x960.yaml
@@ -0,0 +1,20 @@
+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]
diff --git a/config/adc/basler_camera_config.yaml b/config/adc/basler_camera_config.yaml
new file mode 100644
index 0000000..74297a8
--- /dev/null
+++ b/config/adc/basler_camera_config.yaml
@@ -0,0 +1,122 @@
+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
diff --git a/config/adc/battery_config.yaml b/config/adc/battery_config.yaml
new file mode 100644
index 0000000..710347b
--- /dev/null
+++ b/config/adc/battery_config.yaml
@@ -0,0 +1,2 @@
+rate: 100
+
diff --git a/config/adc/control_config.yaml b/config/adc/control_config.yaml
new file mode 100644
index 0000000..6f4adee
--- /dev/null
+++ b/config/adc/control_config.yaml
@@ -0,0 +1,15 @@
+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
+
diff --git a/config/adc/delock_96368.yaml b/config/adc/delock_96368.yaml
new file mode 100644
index 0000000..3e8f52b
--- /dev/null
+++ b/config/adc/delock_96368.yaml
@@ -0,0 +1,4 @@
+vendor: '0x090c'
+product: '0xf37d'
+serial: ""
+index: 0
diff --git a/config/adc/delock_camera_config.yaml b/config/adc/delock_camera_config.yaml
new file mode 100644
index 0000000..801f26f
--- /dev/null
+++ b/config/adc/delock_camera_config.yaml
@@ -0,0 +1,5 @@
+width: 1280
+height: 960
+frame_id: 'model_car/rear_camera_uvc_camera_optical'
+video_mode: 'mjpeg'
+frame_rate: 30.0
diff --git a/config/adc/egomotion_config.yaml b/config/adc/egomotion_config.yaml
new file mode 100644
index 0000000..85c0669
--- /dev/null
+++ b/config/adc/egomotion_config.yaml
@@ -0,0 +1,4 @@
+rate: 100
+imu_frame_id: model_car/imu_mpu9250
+gyro_cal_samples: 100
+
diff --git a/config/adc/odometry_config.yaml b/config/adc/odometry_config.yaml
new file mode 100644
index 0000000..be7ed56
--- /dev/null
+++ b/config/adc/odometry_config.yaml
@@ -0,0 +1,15 @@
+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
+
diff --git a/config/adc/rplidar_config.yaml b/config/adc/rplidar_config.yaml
new file mode 100644
index 0000000..4786aec
--- /dev/null
+++ b/config/adc/rplidar_config.yaml
@@ -0,0 +1,6 @@
+serial_port: "/dev/ttyUSB0"
+serial_baudrate: 115200
+frame_id: "model_car/front_lidar_rplidar_scan_frame"
+inverted: false
+angle_compensate: true
+
diff --git a/config/adc/ultrasounds_config.yaml b/config/adc/ultrasounds_config.yaml
new file mode 100644
index 0000000..841ed22
--- /dev/null
+++ b/config/adc/ultrasounds_config.yaml
@@ -0,0 +1,7 @@
+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
+
diff --git a/config/adc_common/local_ekf_odom_imu.yaml b/config/adc_common/local_ekf_odom_imu.yaml
new file mode 100644
index 0000000..30c2132
--- /dev/null
+++ b/config/adc_common/local_ekf_odom_imu.yaml
@@ -0,0 +1,39 @@
+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]
diff --git a/config/adc_common/mux.yaml b/config/adc_common/mux.yaml
new file mode 100644
index 0000000..4275edf
--- /dev/null
+++ b/config/adc_common/mux.yaml
@@ -0,0 +1,20 @@
+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"
diff --git a/config/adc_car/basler_camera_sim_config.yaml b/config/adc_sim/basler_camera_sim_config.yaml
similarity index 93%
rename from config/adc_car/basler_camera_sim_config.yaml
rename to config/adc_sim/basler_camera_sim_config.yaml
index 2fbe6d5..56ffb8c 100644
--- a/config/adc_car/basler_camera_sim_config.yaml
+++ b/config/adc_sim/basler_camera_sim_config.yaml
@@ -1,6 +1,6 @@
horizontal_fov: 2.25
-width: 1280
-height: 960
+width: 640
+height: 480
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
diff --git a/config/adc_car/delock_camera_sim_config.yaml b/config/adc_sim/delock_camera_sim_config.yaml
similarity index 100%
rename from config/adc_car/delock_camera_sim_config.yaml
rename to config/adc_sim/delock_camera_sim_config.yaml
diff --git a/config/adc_car/mpu9250_imu_config.yaml b/config/adc_sim/mpu9250_imu_config.yaml
similarity index 56%
rename from config/adc_car/mpu9250_imu_config.yaml
rename to config/adc_sim/mpu9250_imu_config.yaml
index d95002f..52d7790 100644
--- a/config/adc_car/mpu9250_imu_config.yaml
+++ b/config/adc_sim/mpu9250_imu_config.yaml
@@ -1,6 +1,6 @@
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
diff --git a/config/adc_car/rear_center_sonar_config.yaml b/config/adc_sim/rear_center_sonar_config.yaml
similarity index 79%
rename from config/adc_car/rear_center_sonar_config.yaml
rename to config/adc_sim/rear_center_sonar_config.yaml
index c63338f..c57811c 100644
--- a/config/adc_car/rear_center_sonar_config.yaml
+++ b/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
diff --git a/config/adc_car/rear_left_sonar_config.yaml b/config/adc_sim/rear_left_sonar_config.yaml
similarity index 79%
rename from config/adc_car/rear_left_sonar_config.yaml
rename to config/adc_sim/rear_left_sonar_config.yaml
index 4a17277..eb9e61e 100644
--- a/config/adc_car/rear_left_sonar_config.yaml
+++ b/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
diff --git a/config/adc_car/rear_right_sonar_config.yaml b/config/adc_sim/rear_right_sonar_config.yaml
similarity index 79%
rename from config/adc_car/rear_right_sonar_config.yaml
rename to config/adc_sim/rear_right_sonar_config.yaml
index 96a2039..ed02ce3 100644
--- a/config/adc_car/rear_right_sonar_config.yaml
+++ b/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
diff --git a/config/adc_car/rp_lidar_config.yaml b/config/adc_sim/rp_lidar_config.yaml
similarity index 88%
rename from config/adc_car/rp_lidar_config.yaml
rename to config/adc_sim/rp_lidar_config.yaml
index 02c79f3..38a70a4 100644
--- a/config/adc_car/rp_lidar_config.yaml
+++ b/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
diff --git a/config/adc_car/side_left_sonar_config.yaml b/config/adc_sim/side_left_sonar_config.yaml
similarity index 79%
rename from config/adc_car/side_left_sonar_config.yaml
rename to config/adc_sim/side_left_sonar_config.yaml
index fbcf3c6..0cb6214 100644
--- a/config/adc_car/side_left_sonar_config.yaml
+++ b/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: 'adc_car/side_left_ranger1d'
+frame_id: 'model_car/side_left_ranger1d'
ranger1d_topic: 'sensors/range/side_left_sonar'
type: 'ultrasound'
noise: 0.01
diff --git a/config/adc_car/side_right_sonar_config.yaml b/config/adc_sim/side_right_sonar_config.yaml
similarity index 79%
rename from config/adc_car/side_right_sonar_config.yaml
rename to config/adc_sim/side_right_sonar_config.yaml
index c1bb4a1..050078c 100644
--- a/config/adc_car/side_right_sonar_config.yaml
+++ b/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: 'adc_car/side_right_ranger1d'
+frame_id: 'model_car/side_right_ranger1d'
ranger1d_topic: 'sensors/range/side_right_sonar'
type: 'ultrasound'
noise: 0.01
diff --git a/launch/adc_bringup.launch b/launch/adc_bringup.launch
new file mode 100644
index 0000000..bcc4cb1
--- /dev/null
+++ b/launch/adc_bringup.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="name" default="adc_car"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_model_car_bringup)/launch/bringup.launch">
+ <arg name="car_name" value="$(arg name)"/>
+ <arg name="battery_config_file" value="$(find iri_adc_launch)/config/adc/battery_config.yaml"/>
+ <arg name="ultrasounds_config_file" value="$(find iri_adc_launch)/config/adc/ultrasounds_config.yaml"/>
+ <arg name="egomotion_config_file" value="$(find iri_adc_launch)/config/adc/egomotion_config.yaml"/>
+ <arg name="basler_config_file" value="$(find iri_adc_launch)/config/adc/basler_camera_config.yaml"/>
+ <arg name="delock_device_file" value="$(find iri_adc_launch)/config/adc/delock_96368.yaml" />
+ <arg name="delock_format_file" value="$(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="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="sim_config_path" value="$(find iri_adc_launch)/config/adc_sim"/>
+ </include>
+</launch>
--
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