Commit b8f36fc5 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Navigation with opendrive global planner operational.

Added an AMCL map for the sample circuit.
parent 8349ccbc
......@@ -782,7 +782,7 @@
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link>
<predecessor elementType="road" elementId="5" contactPoint="end" />
<successor elementType="road" elementId="10" contactPoint="start" />
<successor elementType="road" elementId="10" contactPoint="end" />
</link>
<type s="0.0000000000000000e+00" type="town" />
<planView>
......@@ -823,7 +823,7 @@
<road name="juntion_6_1_10_1" length="1.5710120345618366e+01" id="1008" junction="2">
<link>
<predecessor elementType="road" elementId="6" contactPoint="start" />
<successor elementType="road" elementId="10" contactPoint="start" />
<successor elementType="road" elementId="10" contactPoint="end" />
</link>
<type s="0.0000000000000000e+00" type="town" />
<planView>
......@@ -896,7 +896,7 @@
</road>
<road name="juntion_10_-1_5_1" length="1.5709921592724829e+01" id="1010" junction="2">
<link>
<predecessor elementType="road" elementId="10" contactPoint="start" />
<predecessor elementType="road" elementId="10" contactPoint="end" />
<successor elementType="road" elementId="5" contactPoint="end" />
</link>
<type s="0.0000000000000000e+00" type="town" />
......@@ -938,7 +938,7 @@
</road>
<road name="juntion_10_-1_6_-1" length="1.5709921580249619e+01" id="1011" junction="2">
<link>
<predecessor elementType="road" elementId="10" contactPoint="start" />
<predecessor elementType="road" elementId="10" contactPoint="end" />
<successor elementType="road" elementId="6" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="town" />
......
......@@ -50,10 +50,4 @@
<arg name="parent" default="map"/>
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find iri_adc_launch)/rviz/sim_env.rviz">
</node>
</launch>
......@@ -5,9 +5,9 @@
<arg name="name" default="adc_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="map_path" default="$(find iri_adc_circuit_example)/map"/>
<arg name="map_name" default="sample" />
<arg name="opendrive_file_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="map_path" default="$(find iri_adc_launch)/maps"/>
<arg name="map_name" default="adc_map" />
<arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/>
<arg name="gazebo_gui" default="True"/>
......
This diff is collapsed.
image: /home/sergi/iri-lab/adc_ws/src/adc/iri_adc_launch/maps/adc_map.pgm
resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
......@@ -615,7 +615,7 @@ Visualization Manager:
Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
Enabled: false
Enabled: true
Name: Odometry
- Class: rviz/Group
Displays:
......@@ -774,7 +774,7 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /adc_car/initialpose
Topic: /adc_car/global_ekf/set_pose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
......@@ -786,7 +786,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 13.06635856628418
Distance: 31.713680267333984
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
......@@ -827,4 +827,4 @@ Window Geometry:
collapsed: false
Width: 1373
X: 67
Y: 0
Y: 27
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