diff --git a/launch/adc_ar_detector.launch b/launch/adc_ar_detector.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d7d03b2d60342ec8c77ccbbac1da1d9586516b69
--- /dev/null
+++ b/launch/adc_ar_detector.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="car_name" default="adc_car"/>
+
+ <node name="ar_track_alvar"
+ pkg="ar_track_alvar"
+ type="individualMarkersNoKinect"
+ respawn="false"
+ output="screen">
+ <param name="marker_size" type="double" value="5.0" />
+ <param name="max_new_marker_error" type="double" value="0.08" />
+ <param name="max_track_error" type="double" value="0.2" />
+ <param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
+ <remap from="/camera_image" to="$(arg car_name)/sensors/basler_camera/image_raw" />
+ <remap from="/camera_info" to="$(arg car_name)/sensors/basler_camera/camera_info" />
+ </node>
+</launch>
diff --git a/rviz/ar_detector.rviz b/rviz/ar_detector.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..6dfedd6e20a6aec0f4676d9b0cfc4312ecd71288
--- /dev/null
+++ b/rviz/ar_detector.rviz
@@ -0,0 +1,736 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 80
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Models1
+ - /Sensors1
+ Splitter Ratio: 0.6352941393852234
+ Tree Height: 794
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 200
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_footprint:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ body:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_camera_uvc_camera_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_camera_uvc_camera_optical:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lidar_rplidar_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_lidar_rplidar_scan_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ front_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_mpu9250:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_mpu9250_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_camera_uvc_camera_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_camera_uvc_camera_optical:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_center_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_center_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rear_right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_left_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_left_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ side_right_base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ side_right_ranger1d:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ steer_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ steer_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ adc_car/base_footprint:
+ Value: true
+ adc_car/base_link:
+ Value: true
+ adc_car/body:
+ Value: true
+ adc_car/front_camera_uvc_camera_base:
+ Value: true
+ adc_car/front_camera_uvc_camera_optical:
+ Value: true
+ adc_car/front_left_wheel:
+ Value: true
+ adc_car/front_lidar_rplidar_base:
+ Value: true
+ adc_car/front_lidar_rplidar_scan_frame:
+ Value: true
+ adc_car/front_right_wheel:
+ Value: true
+ adc_car/imu_mpu9250:
+ Value: true
+ adc_car/imu_mpu9250_base:
+ Value: true
+ adc_car/odom:
+ Value: true
+ adc_car/rear_camera_uvc_camera_base:
+ Value: true
+ adc_car/rear_camera_uvc_camera_optical:
+ Value: true
+ adc_car/rear_center_base:
+ Value: true
+ adc_car/rear_center_ranger1d:
+ Value: true
+ adc_car/rear_left_base:
+ Value: true
+ adc_car/rear_left_ranger1d:
+ Value: true
+ adc_car/rear_left_wheel:
+ Value: true
+ adc_car/rear_right_base:
+ Value: true
+ adc_car/rear_right_ranger1d:
+ Value: true
+ adc_car/rear_right_wheel:
+ Value: true
+ adc_car/side_left_base:
+ Value: true
+ adc_car/side_left_ranger1d:
+ Value: true
+ adc_car/side_right_base:
+ Value: true
+ adc_car/side_right_ranger1d:
+ Value: true
+ adc_car/steer_left:
+ Value: true
+ adc_car/steer_right:
+ Value: true
+ ar_marker_6:
+ Value: true
+ giveway_1102_base_link:
+ Value: true
+ giveway_1102_tag_image:
+ Value: true
+ giveway_1102_tag_link:
+ Value: true
+ giveway_1102_top_panel_image:
+ Value: true
+ giveway_1102_top_panel_link:
+ Value: true
+ giveway_1103_base_link:
+ Value: true
+ giveway_1103_tag_image:
+ Value: true
+ giveway_1103_tag_link:
+ Value: true
+ giveway_1103_top_panel_image:
+ Value: true
+ giveway_1103_top_panel_link:
+ Value: true
+ map:
+ Value: true
+ max_50_1031_base_link:
+ Value: true
+ max_50_1031_tag_image:
+ Value: true
+ max_50_1031_tag_link:
+ Value: true
+ max_50_1031_top_panel_image:
+ Value: true
+ max_50_1031_top_panel_link:
+ Value: true
+ max_50_1032_base_link:
+ Value: true
+ max_50_1032_tag_image:
+ Value: true
+ max_50_1032_tag_link:
+ Value: true
+ max_50_1032_top_panel_image:
+ Value: true
+ max_50_1032_top_panel_link:
+ Value: true
+ max_50_1081_base_link:
+ Value: true
+ max_50_1081_tag_image:
+ Value: true
+ max_50_1081_tag_link:
+ Value: true
+ max_50_1081_top_panel_image:
+ Value: true
+ max_50_1081_top_panel_link:
+ Value: true
+ max_50_1082_base_link:
+ Value: true
+ max_50_1082_tag_image:
+ Value: true
+ max_50_1082_tag_link:
+ Value: true
+ max_50_1082_top_panel_image:
+ Value: true
+ max_50_1082_top_panel_link:
+ Value: true
+ max_50_1104_base_link:
+ Value: true
+ max_50_1104_tag_image:
+ Value: true
+ max_50_1104_tag_link:
+ Value: true
+ max_50_1104_top_panel_image:
+ Value: true
+ max_50_1104_top_panel_link:
+ Value: true
+ max_50_1105_base_link:
+ Value: true
+ max_50_1105_tag_image:
+ Value: true
+ max_50_1105_tag_link:
+ Value: true
+ max_50_1105_top_panel_image:
+ Value: true
+ max_50_1105_top_panel_link:
+ Value: true
+ object0_0_base_footprint:
+ Value: true
+ object0_0_base_link:
+ Value: true
+ object1_0_base_footprint:
+ Value: true
+ object1_0_base_link:
+ Value: true
+ object2_0_base_footprint:
+ Value: true
+ object2_0_base_link:
+ Value: true
+ parking_1033_base_link:
+ Value: true
+ parking_1033_tag_image:
+ Value: true
+ parking_1033_tag_link:
+ Value: true
+ parking_1033_top_panel_image:
+ Value: true
+ parking_1033_top_panel_link:
+ Value: true
+ parking_1101_base_link:
+ Value: true
+ parking_1101_tag_image:
+ Value: true
+ parking_1101_tag_link:
+ Value: true
+ parking_1101_top_panel_image:
+ Value: true
+ parking_1101_top_panel_link:
+ Value: true
+ pedestrian_crossing_1001_base_link:
+ Value: true
+ pedestrian_crossing_1001_tag_image:
+ Value: true
+ pedestrian_crossing_1001_tag_link:
+ Value: true
+ pedestrian_crossing_1001_top_panel_image:
+ Value: true
+ pedestrian_crossing_1001_top_panel_link:
+ Value: true
+ pedestrian_crossing_1002_base_link:
+ Value: true
+ pedestrian_crossing_1002_tag_image:
+ Value: true
+ pedestrian_crossing_1002_tag_link:
+ Value: true
+ pedestrian_crossing_1002_top_panel_image:
+ Value: true
+ pedestrian_crossing_1002_top_panel_link:
+ Value: true
+ perimeter0_0_base_footprint:
+ Value: true
+ perimeter0_0_base_link:
+ Value: true
+ perimeter1_0_base_footprint:
+ Value: true
+ perimeter1_0_base_link:
+ Value: true
+ perimeter2_0_base_footprint:
+ Value: true
+ perimeter2_0_base_link:
+ Value: true
+ perimeter3_0_base_footprint:
+ Value: true
+ perimeter3_0_base_link:
+ Value: true
+ sample_gazebo_base_link:
+ Value: true
+ sample_gazebo_image:
+ Value: true
+ Marker Scale: 0.25
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ adc_car/odom:
+ adc_car/base_footprint:
+ adc_car/base_link:
+ adc_car/body:
+ {}
+ adc_car/front_camera_uvc_camera_base:
+ adc_car/front_camera_uvc_camera_optical:
+ ar_marker_6:
+ {}
+ adc_car/front_lidar_rplidar_base:
+ adc_car/front_lidar_rplidar_scan_frame:
+ {}
+ adc_car/imu_mpu9250_base:
+ adc_car/imu_mpu9250:
+ {}
+ adc_car/rear_camera_uvc_camera_base:
+ adc_car/rear_camera_uvc_camera_optical:
+ {}
+ adc_car/rear_center_base:
+ adc_car/rear_center_ranger1d:
+ {}
+ adc_car/rear_left_base:
+ adc_car/rear_left_ranger1d:
+ {}
+ adc_car/rear_left_wheel:
+ {}
+ adc_car/rear_right_base:
+ adc_car/rear_right_ranger1d:
+ {}
+ adc_car/rear_right_wheel:
+ {}
+ adc_car/side_left_base:
+ adc_car/side_left_ranger1d:
+ {}
+ adc_car/side_right_base:
+ adc_car/side_right_ranger1d:
+ {}
+ adc_car/steer_left:
+ adc_car/front_left_wheel:
+ {}
+ adc_car/steer_right:
+ adc_car/front_right_wheel:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Name: Models
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Group
+ Displays:
+ - Angle Tolerance: 0.25
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 1000
+ Name: GroundTruth
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 0; 255
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /adc_car/odom_ground_truth
+ Unreliable: false
+ Value: true
+ - Angle Tolerance: 0.25
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 1000
+ Name: Odometry
+ Position Tolerance: 0.25
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.07000000029802322
+ Head Radius: 0.02500000037252903
+ Shaft Length: 0.25
+ Shaft Radius: 0.009999999776482582
+ Value: Arrow
+ Topic: /adc_car/odom
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Odometry
+ - Class: rviz/Group
+ Displays:
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearCenterRange
+ Queue Size: 100
+ Topic: /adc_car/sensors/range/rear_center_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearLeftRange
+ Queue Size: 100
+ Topic: /adc_car/sensors/range/rear_left_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: RearRightRange
+ Queue Size: 100
+ Topic: /adc_car/sensors/range/rear_right_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: SideLeftRange
+ Queue Size: 100
+ Topic: /adc_car/sensors/range/side_left_sonar
+ Unreliable: false
+ Value: true
+ - Alpha: 0.5
+ Buffer Length: 1
+ Class: rviz/Range
+ Color: 255; 255; 255
+ Enabled: true
+ Name: SideRightRange
+ Queue Size: 100
+ Topic: /adc_car/sensors/range/side_right_sonar
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Sonar
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Points
+ Topic: /adc_car/sensors/scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.25
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: false
+ History Length: 2
+ Name: Imu
+ Topic: /adc_car/sensors/imu_data
+ Unreliable: false
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: FrontImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: RearImage
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Name: Sensors
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /visualization_marker
+ Name: AR_marker
+ Namespaces:
+ basic_shapes: true
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: adc_car/odom
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 2.6803407669067383
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.04447446018457413
+ Y: -0.21692512929439545
+ Z: 0.6068164110183716
+ Focal Shape Fixed Size: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.43039819598197937
+ Target Frame: adc_car/base_link
+ Value: Orbit (rviz)
+ Yaw: 3.1203980445861816
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ FrontImage:
+ collapsed: false
+ Height: 1025
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000019a000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003a7fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001d10000001600fffffffb0000001200520065006100720049006d0061006700650100000214000001d00000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000448000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ RearImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1853
+ X: 67
+ Y: 27