Navigation with opendrive global planner operational.

Added an AMCL map for the sample circuit.

data/sample.xodr

@@ -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" />

launch/adc_sim_env.launch

@@ -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>

launch/sim_navigation.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"/>

maps/adc_map.yaml

+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
+

rviz/nav.rviz

@@ -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