Updated launch and config files to new landmarks llocalization updates

config/adc_common/landmarks_loc/amcl_mapping.yaml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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"/>