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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
d766fd69
Commit
d766fd69
authored
Oct 04, 2021
by
Alejandro Lopez Gestoso
Browse files
Updated launch and config files to new landmarks llocalization updates
parent
c947df95
Changes
6
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Inline
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config/adc_common/landmarks_loc/amcl_mapping.yaml
View file @
d766fd69
...
...
@@ -2,6 +2,7 @@ rate: 20.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
opendrive_frame
:
"
opendrive"
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
...
...
@@ -21,7 +22,7 @@ calculate_covariance: False
publish_tf_map_odom
:
False
update_problem_rate
:
0.001
update_problem_distance
:
0.
2
update_problem_distance
:
0.
1
update_problem_angle
:
0.1
update_problem_features_detected
:
3
wait_feature_detected_timeout
:
0.2
...
...
@@ -32,6 +33,7 @@ landmark_mahalanobis_dist: 3.5
landmarks_min_detections
:
4
landmarks_filter_orientation_en
:
True
landmarks_orientation_th
:
0.4
landmarks_xodr_scale
:
10.0
sensor_sigma_r
:
0.2
sensor_sigma_th
:
0.3
...
...
config/adc_common/landmarks_loc/landmarks_calibration.yaml
View file @
d766fd69
...
...
@@ -2,6 +2,7 @@ rate: 20.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
opendrive_frame
:
"
opendrive"
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
...
...
@@ -21,8 +22,8 @@ calculate_covariance: False
publish_tf_map_odom
:
True
update_problem_rate
:
0.001
update_problem_distance
:
0.
07
update_problem_angle
:
0.
07
update_problem_distance
:
0.
1
update_problem_angle
:
0.
1
update_problem_features_detected
:
3
wait_feature_detected_timeout
:
0.2
problem_frame_window
:
-1
...
...
@@ -32,9 +33,10 @@ landmark_mahalanobis_dist: 3.5
landmarks_min_detections
:
4
landmarks_filter_orientation_en
:
True
landmarks_orientation_th
:
0.4
landmarks_xodr_scale
:
10.0
sensor_sigma_r
:
0.
2
sensor_sigma_th
:
0.
3
sensor_sigma_r
:
0.
1
sensor_sigma_th
:
0.
15
odom_fxy
:
0.1
odom_fth
:
0.15
...
...
config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
View file @
d766fd69
...
...
@@ -2,6 +2,7 @@ rate: 20.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
opendrive_frame
:
"
opendrive"
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
...
...
@@ -21,8 +22,8 @@ calculate_covariance: False
publish_tf_map_odom
:
False
update_problem_rate
:
0.001
update_problem_distance
:
0.
07
update_problem_angle
:
0.
07
update_problem_distance
:
0.
1
update_problem_angle
:
0.
1
update_problem_features_detected
:
3
wait_feature_detected_timeout
:
0.2
problem_frame_window
:
-1
...
...
@@ -32,9 +33,10 @@ landmark_mahalanobis_dist: 3.5
landmarks_min_detections
:
4
landmarks_filter_orientation_en
:
True
landmarks_orientation_th
:
0.4
landmarks_xodr_scale
:
10.0
sensor_sigma_r
:
0.
2
sensor_sigma_th
:
0.
3
sensor_sigma_r
:
0.
1
sensor_sigma_th
:
0.
15
odom_fxy
:
0.1
odom_fth
:
0.15
...
...
config/adc_common/landmarks_loc/localization.yaml
View file @
d766fd69
...
...
@@ -2,6 +2,7 @@ rate: 20.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
opendrive_frame
:
"
opendrive"
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
...
...
@@ -21,8 +22,8 @@ calculate_covariance: True
publish_tf_map_odom
:
False
update_problem_rate
:
0.001
update_problem_distance
:
0.
07
update_problem_angle
:
0.
07
update_problem_distance
:
0.
1
update_problem_angle
:
0.
1
update_problem_features_detected
:
3
wait_feature_detected_timeout
:
0.2
problem_frame_window
:
120
...
...
@@ -32,9 +33,10 @@ landmark_mahalanobis_dist: 3.5
landmarks_min_detections
:
4
landmarks_filter_orientation_en
:
True
landmarks_orientation_th
:
0.4
landmarks_xodr_scale
:
10.0
sensor_sigma_r
:
0.
2
sensor_sigma_th
:
0.
3
sensor_sigma_r
:
0.
1
sensor_sigma_th
:
0.
15
odom_fxy
:
0.1
odom_fth
:
0.15
...
...
config/adc_common/landmarks_loc/slam_mapping.yaml
View file @
d766fd69
...
...
@@ -2,6 +2,7 @@ rate: 20.0
global_frame
:
"
map"
odom_frame
:
"
adc_car/odom"
base_link_frame
:
"
adc_car/base_link"
opendrive_frame
:
"
opendrive"
tf_timeout
:
0.2
old_feature_timeout
:
0.5
amcl_pose_estimated_sigma
:
0.25
...
...
@@ -21,8 +22,8 @@ calculate_covariance: False
publish_tf_map_odom
:
True
update_problem_rate
:
0.001
update_problem_distance
:
0.
07
update_problem_angle
:
0.
07
update_problem_distance
:
0.
1
update_problem_angle
:
0.
1
update_problem_features_detected
:
3
wait_feature_detected_timeout
:
0.2
problem_frame_window
:
-1
...
...
@@ -32,9 +33,10 @@ landmark_mahalanobis_dist: 3.5
landmarks_min_detections
:
4
landmarks_filter_orientation_en
:
True
landmarks_orientation_th
:
0.4
landmarks_xodr_scale
:
10.0
sensor_sigma_r
:
0.
2
sensor_sigma_th
:
0.
3
sensor_sigma_r
:
0.
1
sensor_sigma_th
:
0.
15
odom_fxy
:
0.1
odom_fth
:
0.15
...
...
launch/adc_landmarks_localization.launch
View file @
d766fd69
...
...
@@ -6,7 +6,7 @@
<arg
name=
"dr"
default=
"false"
/>
<!--Ar track alvar parameters-->
<arg
name=
"marker_size"
default=
"
4.8
"
/>
<arg
name=
"marker_size"
default=
"
5.0
"
/>
<arg
name=
"ar_max_freq"
default=
"30.0"
/>
<!-- Img ROI parameters -->
...
...
@@ -17,14 +17,11 @@
<arg
name=
"car_x"
default=
"0.0"
/>
<arg
name=
"car_y"
default=
"0.0"
/>
<arg
name=
"car_yaw"
default=
"0.0"
/>
<arg
name=
"global_ekf_config_file"
default=
"$(find iri_adc_launch)/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml"
/>
<arg
name=
"map_path"
default=
"$(find iri_adc_launch)/maps"
/>
<arg
name=
"map_name"
default=
"adc_map"
/>
<arg
name=
"amcl_config"
default=
"$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"
/>
<arg
name=
"landmarks_config_dir"
default=
"$(find iri_adc_launch)/config/adc_common/landmarks_loc"
/>
<arg
name=
"landmarks_config_file"
default=
"amcl_mapping.yaml"
/>
<arg
name=
"landmarks_data_dir"
default=
"$(find iri_adc_launch)/data/sample_parking"
/>
<arg
name=
"landmarks_file"
default=
"landmarks.txt"
/>
<arg
name=
"load_landmarks_from_xodr"
default=
"false"
/>
<arg
name=
"use_rear_camera_loc"
default=
"false"
/>
<group
ns=
"$(arg car_name)"
>
...
...
@@ -135,6 +132,7 @@
<arg
name=
"launch_prefix"
value=
"$(arg launch_prefix)"
/>
<arg
name=
"config_file"
value=
"$(arg landmarks_config_dir)/$(arg landmarks_config_file)"
/>
<arg
name=
"landmarks_map_file"
value=
"$(arg landmarks_data_dir)/$(arg landmarks_file)"
/>
<arg
name=
"load_landmarks_from_xodr"
value=
"$(arg load_landmarks_from_xodr)"
/>
<arg
name=
"estimated_pose_topic_name"
value=
"/$(arg car_name)/estimated_pose"
/>
<arg
name=
"initialpose_topic_name"
value=
"/$(arg car_name)/initialpose"
/>
<arg
name=
"front_features_topic_name"
value=
"/$(arg car_name)/front_features"
/>
...
...
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