From d766fd69ff3e4d141ac65a821dbcff9447148ea1 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Mon, 4 Oct 2021 17:56:30 +0200
Subject: [PATCH] Updated launch and config files to new landmarks
llocalization updates
---
config/adc_common/landmarks_loc/amcl_mapping.yaml | 4 +++-
.../landmarks_loc/landmarks_calibration.yaml | 10 ++++++----
.../landmarks_loc/landmarks_calibration_amcl.yaml | 10 ++++++----
config/adc_common/landmarks_loc/localization.yaml | 10 ++++++----
config/adc_common/landmarks_loc/slam_mapping.yaml | 10 ++++++----
launch/adc_landmarks_localization.launch | 8 +++-----
6 files changed, 30 insertions(+), 22 deletions(-)
diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml
index df6f835..0ce2a95 100644
--- a/config/adc_common/landmarks_loc/amcl_mapping.yaml
+++ b/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
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
index 869beea..36058cd 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml
+++ b/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
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
index a49cdf3..2511a7a 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
+++ b/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
diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml
index b1c1039..48f74f9 100644
--- a/config/adc_common/landmarks_loc/localization.yaml
+++ b/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
diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml
index 1442dc3..383986e 100644
--- a/config/adc_common/landmarks_loc/slam_mapping.yaml
+++ b/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
diff --git a/launch/adc_landmarks_localization.launch b/launch/adc_landmarks_localization.launch
index 45dedff..c55ef9e 100644
--- a/launch/adc_landmarks_localization.launch
+++ b/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"/>
--
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