Commit c74aa7c7 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to two cameras with two topics. Updated aprameters

parent 2905e7bc
rate: 50.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" 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 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
......
rate: 50.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" 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 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
......
rate: 50.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" 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 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
......
rate: 50.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" 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 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
......
rate: 50.0 rate: 20.0
global_frame: "map" global_frame: "map"
odom_frame: "adc_car/odom" odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link" 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 amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001 publish_pose_rate: 0.001
publish_pose_distance: 0.1 publish_pose_distance: 0.1
......
...@@ -25,19 +25,8 @@ ...@@ -25,19 +25,8 @@
<arg name="landmarks_config_file" default="amcl_mapping.yaml"/> <arg name="landmarks_config_file" default="amcl_mapping.yaml"/>
<arg name="landmarks_data_dir" default="$(find iri_adc_launch)/data/sample_parking"/> <arg name="landmarks_data_dir" default="$(find iri_adc_launch)/data/sample_parking"/>
<arg name="landmarks_file" default="landmarks.txt"/> <arg name="landmarks_file" default="landmarks.txt"/>
<arg name="features_topic_name" default="/$(arg car_name)/features"/>
<arg name="use_rear_camera_loc" default="false"/> <arg name="use_rear_camera_loc" default="false"/>
<!-- opendrive and map tf -->
<arg name="opendrive_x" default="0.0"/>
<arg name="opendrive_y" default="0.0"/>
<arg name="opendrive_yaw" default="0.0"/>
<node name="static_tf_map_to_opendrive" pkg="tf" type="static_transform_publisher"
args="$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100">
</node>
<group ns="$(arg car_name)"> <group ns="$(arg car_name)">
<!-- Front image ROI --> <!-- Front image ROI -->
<include file="$(find iri_image_roi)/launch/node.launch"> <include file="$(find iri_image_roi)/launch/node.launch">
...@@ -85,7 +74,7 @@ ...@@ -85,7 +74,7 @@
<arg name="config_file" value="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/> <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="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/front_ar_pose_marker"/> <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="/$(arg car_name)/front_features"/>
</include> </include>
...@@ -136,7 +125,7 @@ ...@@ -136,7 +125,7 @@
<arg name="config_file" value="$(find iri_adc_launch)/config/adc_common/ar_tag_loc_filter.yaml"/> <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="robot_name" value="$(arg car_name)"/>
<arg name="ar_input_topic" value="/$(arg car_name)/rear_ar_pose_marker"/> <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="/$(arg car_name)/rear_features"/>
</include> </include>
</group> </group>
...@@ -148,45 +137,14 @@ ...@@ -148,45 +137,14 @@
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/> <arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
<arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/> <arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/>
<arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/> <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="$(arg car_x)"/> <arg name="initial_pose_x" value="$(arg car_x)"/>
<arg name="initial_pose_y" value="$(arg car_y)"/> <arg name="initial_pose_y" value="$(arg car_y)"/>
<arg name="initial_pose_yaw" value="$(arg car_yaw)"/> <arg name="initial_pose_yaw" value="$(arg car_yaw)"/>
</include> </include>
</group> </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" <node name="rqt_reconfigure_iri_adc_tag_localization_filter"
pkg ="rqt_reconfigure" pkg ="rqt_reconfigure"
type="rqt_reconfigure" type="rqt_reconfigure"
......
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