Adapted to two cameras with two topics. Updated aprameters

config/adc_common/landmarks_loc/amcl_mapping.yaml

-rate: 50.0
+rate: 20.0
 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

-rate: 50.0
+rate: 20.0
 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

-rate: 50.0
+rate: 20.0
 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

-rate: 50.0
+rate: 20.0
 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

-rate: 50.0
+rate: 20.0
 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

@@ -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"