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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
c74aa7c7
Commit
c74aa7c7
authored
Aug 05, 2021
by
Alejandro Lopez Gestoso
Browse files
Adapted to two cameras with two topics. Updated aprameters
parent
2905e7bc
Changes
6
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config/adc_common/landmarks_loc/amcl_mapping.yaml
View file @
c74aa7c7
rate
:
5
0.0
rate
:
2
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
tf_timeout
:
0.1
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
publish_pose_rate
:
0.001
publish_pose_distance
:
0.1
...
...
config/adc_common/landmarks_loc/landmarks_calibration.yaml
View file @
c74aa7c7
rate
:
5
0.0
rate
:
2
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
tf_timeout
:
0.1
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
publish_pose_rate
:
0.001
publish_pose_distance
:
0.1
...
...
config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
View file @
c74aa7c7
rate
:
5
0.0
rate
:
2
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
tf_timeout
:
0.1
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
publish_pose_rate
:
0.001
publish_pose_distance
:
0.1
...
...
config/adc_common/landmarks_loc/localization.yaml
View file @
c74aa7c7
rate
:
5
0.0
rate
:
2
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
tf_timeout
:
0.1
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
publish_pose_rate
:
0.001
publish_pose_distance
:
0.1
...
...
config/adc_common/landmarks_loc/slam_mapping.yaml
View file @
c74aa7c7
rate
:
5
0.0
rate
:
2
0.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
tf_timeout
:
0.1
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
publish_pose_rate
:
0.001
publish_pose_distance
:
0.1
...
...
launch/adc_global_localization.launch
View file @
c74aa7c7
...
...
@@ -25,19 +25,8 @@
<arg
name=
"landmarks_config_file"
default=
"amcl_mapping.yaml"
/>
<arg
name=
"landmarks_data_dir"
default=
"$(find iri_adc_launch)/data/sample_parking"
/>
<arg
name=
"landmarks_file"
default=
"landmarks.txt"
/>
<arg
name=
"features_topic_name"
default=
"/$(arg car_name)/features"
/>
<arg
name=
"use_rear_camera_loc"
default=
"false"
/>
<!-- opendrive and map tf -->
<arg
name=
"opendrive_x"
default=
"0.0"
/>
<arg
name=
"opendrive_y"
default=
"0.0"
/>
<arg
name=
"opendrive_yaw"
default=
"0.0"
/>
<node
name=
"static_tf_map_to_opendrive"
pkg=
"tf"
type=
"static_transform_publisher"
args=
"$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100"
>
</node>
<group
ns=
"$(arg car_name)"
>
<!-- Front image ROI -->
<include
file=
"$(find iri_image_roi)/launch/node.launch"
>
...
...
@@ -85,7 +74,7 @@
<arg
name=
"config_file"
value=
"$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"
/>
<arg
name=
"robot_name"
value=
"$(arg car_name)"
/>
<arg
name=
"ar_input_topic"
value=
"/$(arg car_name)/front_ar_pose_marker"
/>
<arg
name=
"features_output_topic"
value=
"$(arg
features_topic_name)
"
/>
<arg
name=
"features_output_topic"
value=
"
/
$(arg
car_name)/front_features
"
/>
</include>
...
...
@@ -136,7 +125,7 @@
<arg
name=
"config_file"
value=
"$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"
/>
<arg
name=
"robot_name"
value=
"$(arg car_name)"
/>
<arg
name=
"ar_input_topic"
value=
"/$(arg car_name)/rear_ar_pose_marker"
/>
<arg
name=
"features_output_topic"
value=
"$(arg
features_topic_name)
"
/>
<arg
name=
"features_output_topic"
value=
"
/
$(arg
car_name)/rear_features
"
/>
</include>
</group>
...
...
@@ -148,45 +137,14 @@
<arg
name=
"landmarks_map_file"
value=
"$(arg landmarks_data_dir)/$(arg landmarks_file)"
/>
<arg
name=
"estimated_pose_topic_name"
value=
"/$(arg car_name)/estimated_pose"
/>
<arg
name=
"initialpose_topic_name"
value=
"/$(arg car_name)/initialpose"
/>
<arg
name=
"features_topic_name"
value=
"$(arg features_topic_name)"
/>
<arg
name=
"front_features_topic_name"
value=
"/$(arg car_name)/front_features"
/>
<arg
name=
"rear_features_topic_name"
value=
"/$(arg car_name)/rear_features"
/>
<arg
name=
"initial_pose_x"
value=
"$(arg car_x)"
/>
<arg
name=
"initial_pose_y"
value=
"$(arg car_y)"
/>
<arg
name=
"initial_pose_yaw"
value=
"$(arg car_yaw)"
/>
</include>
</group>
<include
file=
"$(find iri_rosnav)/launch/include/map_server.launch"
>
<arg
name=
"ns"
value=
"$(arg car_name)"
/>
<arg
name=
"map_frame_id"
value=
"map"
/>
<arg
name=
"map_path"
value=
"$(arg map_path)"
/>
<arg
name=
"map_name"
value=
"$(arg map_name)"
/>
<arg
name=
"map_topic"
value=
"/$(arg car_name)/map"
/>
<arg
name=
"map_service"
value=
"/$(arg car_name)/static_map"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
</include>
<include
file=
"$(find iri_rosnav)/launch/include/amcl.launch"
>
<arg
name=
"ns"
value=
"$(arg car_name)"
/>
<arg
name=
"config"
value=
"$(arg amcl_config)"
/>
<arg
name=
"map_frame_id"
value=
"map"
/>
<arg
name=
"odom_frame_id"
value=
"$(arg car_name)/odom"
/>
<arg
name=
"base_frame_id"
value=
"$(arg car_name)/base_footprint"
/>
<arg
name=
"initial_x"
value=
"$(arg car_x)"
/>
<arg
name=
"initial_y"
value=
"$(arg car_y)"
/>
<arg
name=
"initial_yaw"
value=
"$(arg car_yaw)"
/>
<arg
name=
"scan_topic"
value=
"/$(arg car_name)/sensors/scan"
/>
<arg
name=
"map_service"
value=
"/$(arg car_name)/static_map"
/>
<arg
name=
"output"
value=
"$(arg output)"
/>
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
</include>
<include
file=
"$(find iri_model_car_rosnav)/launch/include/localization.launch"
>
<arg
name=
"name"
value=
"$(arg car_name)"
/>
<arg
name=
"global_ekf_config_file"
value=
"$(arg global_ekf_config_file)"
/>
<arg
name=
"set_pose_topic"
value=
"/$(arg car_name)/initialpose"
/>
</include>
<node
name=
"rqt_reconfigure_iri_adc_tag_localization_filter"
pkg =
"rqt_reconfigure"
type=
"rqt_reconfigure"
...
...
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