Update launchs for name adc_car

config/adc_car_controller_config.yaml

-#model_car:
+#adc_car:
   # Publish all joint states -----------------------------------
   joint_state_controller:
     type: joint_state_controller/JointStateController

config/adc_car_global_ekf.yaml

+frequency: 30
+sensor_timeout: 1.0
+transform_time_offset: 0.0
+two_d_mode: true
+print_diagnostics: true
+debug: false
+debug_out_file: /tmp/debug_ekf_localization.txt
+use_control: false
+
+publish_tf: true
+map_frame: map
+odom_frame: adc_car/odom
+base_link_frame: adc_car/base_footprint
+world_frame: map
+
+odom0: /adc_car/odom
+odom0_config: [false, false, false,
+               false, false, false,
+               true,  true,  false,
+               false, false, true,
+               false, false, false]
+
+imu0: /adc_car/sensors/imu_enu
+imu0_config: [false, false, false,
+              false, false, true,
+              false, false, false,
+              false, false, true,
+              true,  false, false]
+
+imu0_differential: false
+imu0_relative: false
+imu0_remove_gravitational_acceleration: true
+
+pose0: /adc_car/amcl_pose
+pose0_config: [true, true, false,
+               false, false, true,
+               false, false, false,
+               false, false, false,
+               false, false, false]
+pose0_differential: false
+#pose0_relative: false
+#pose0_queue_size: 5
+#pose0_rejection_threshold: 2  # Note the difference in parameter name
+#pose0_nodelay: false
+
+#odom1: /adc_car/visual_odometry
+#odom1_config: [false, false, false,
+               #false, false, false,
+               #true,  true,  false,
+               #false, false, true,
+               #false, false, false]
+
+#meaning_config: [x,     y,      z,
+#                 roll,  pitch,  yaw,
+#                 vx,    vy,     vz,
+#                 vroll, vpitch, vyaw,
+#                 ax,    ay,     az]

config/adc_car_local_ekf.yaml

+frequency: 30
+sensor_timeout: 1.0
+transform_time_offset: 0.0
+two_d_mode: true
+print_diagnostics: true
+debug: false
+debug_out_file: /tmp/debug_ekf_localization.txt
+use_control: false
+
+publish_tf: true
+map_frame: map
+odom_frame: adc_car/odom
+base_link_frame: adc_car/base_footprint
+world_frame: adc_car/odom
+
+odom0: /adc_car/odom
+odom0_config: [false, false, false,
+               false, false, false,
+               true,  true,  false,
+               false, false, true,
+               false, false, false]
+
+imu0: /adc_car/sensors/imu_enu
+imu0_config: [false, false, false,
+              false, false, true,
+              false, false, false,
+              false, false, true,
+              true,  false, false]
+
+imu0_differential: false
+imu0_relative: false
+imu0_remove_gravitational_acceleration: true
+
+#meaning_config: [x,     y,      z,
+#                 roll,  pitch,  yaw,
+#                 vx,    vy,     vz,
+#                 vroll, vpitch, vyaw,
+#                 ax,    ay,     az]

config/adc_car_move_base/amcl_no_tf.yaml

+#frames defined in amc.launch
+#map_frame_id: map
+#odom_frame_id: model_car/odom
+#base_frame_id: model_car/base_footprint
+initial_pose_x: 0.0
+initial_pose_y: 0.0
+initial_pose_a: 0.0
+
+# filer parameters
+min_particles: 100
+max_particles: 5000
+kld_err: 0.01
+kld_z: 0.99
+update_min_d: 0.2
+update_min_a: 0.5236
+resample_interval: 2
+transform_tolerance: 0.1
+recovery_alpha_slow: 0.0
+recovery_alpha_fast: 0.0
+initial_cov_xx: 0.25
+initial_cov_yy: 0.25
+initial_cov_aa: 0.0685
+gui_publish_rate: -1.0
+save_pose_rate: 0.5
+use_map_topic: false
+first_map_only: false
+# laser parameters
+laser_min_range: -1.0
+laser_max_range: -1.0
+laser_max_beams: 30
+laser_z_hit: 0.95
+laser_z_short: 0.1
+laser_z_max: 0.05
+laser_z_rand: 0.05
+laser_sigma_hit: 0.2
+laser_lambda_short: 0.1
+laser_likelihood_max_dist: 2.0
+laser_model_type: 'likelihood_field'
+# odom parameters
+odom_model_type: "diff"
+odom_alpha1: 0.2
+odom_alpha2: 0.2
+odom_alpha3: 0.2
+odom_alpha4: 0.2
+odom_alpha5: 0.2
+tf_broadcast: false

config/adc_car_move_base/costmap/common_params.yaml

+# footprint parameters
+footprint: [[0.5,0.15],[0.5,-0.15],[-0.15,-0.15],[-0.15,0.15]] 
+#robot_radius: 0.35
+footprint_padding: 0.01
+footprint_topic: /adc_car/move_base/local_costmap/footprint
+published_footprint_topic: false
+
+robot_base_frame: adc_car/base_footprint
+track_unknown_space: false
+always_send_full_costmap: false
+transform_tolerance: 1.0
+width: 10.0
+height: 10.0
+resolution: 0.05
+origin_x: 0.0
+origin_y: 0.0
+
+obstacle_layer:
+  enabled: true
+  track_unknown_space: true
+  transform_tolerance: 0.2
+  max_obstacle_height: 1.0
+  footprint_clearing_enabled: true
+  combination_method: 1
+  observation_sources: scan_front 
+  
+  scan_front:  {
+    sensor_frame: adc_car/front_lidar_rplidar_scan_frame,
+    data_type: LaserScan,
+    topic: /adc_car/sensors/scan,
+    observation_persistence: 0.0,
+    marking: true,
+    clearing: true,
+    min_obstacle_height: -0.2,
+    max_obstacle_height: 1.0,
+    expected_update_rate: 1,
+    obstacle_range: 30.0,
+    raytrace_range: 40.0
+  }
+
+inflation_layer:
+  enabled: true
+  inflate_unknown: false
+  cost_scaling_factor:  2.0
+  inflation_radius:     1.0

config/adc_car_move_base/costmap/local_params.yaml

+#local_costmap:  ###namespace added when loading parameters in move_base.launch
+global_frame: adc_car/odom
+update_frequency: 5.0
+publish_frequency: 2.0
+rolling_window: true
+width: 5.0
+height: 5.0
+resolution: 0.05
+origin_x: 0.0
+origin_y: 0.0
+
+#costmap plugins
+plugins:
+  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

config/adc_car_move_base/costmap/map/global_params.yaml

+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: map
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: false
+
+plugins:
+  - {name: static_layer,    type: "costmap_2d::StaticLayer"}
+  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+    
+static_layer:
+  enabled: true
+  map_topic: /map
+  first_map_only: false
+  subscribe_to_updates: false
+  unknown_cost_value: -1
+  use_maximum: false
+  lethal_cost_threshold: 100
+  track_unknown_space: true
+  trinary_costmap: true

config/adc_car_move_base/costmap/no_map/global_params.yaml

+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: adc_car/odom
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: true
+transform_tolerance: 1.0
+width: 15.0
+height: 15.0
+resolution: 0.05
+origin_x: 0.0
+origin_y: 0.0
+
+plugins:
+  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml

+#global_costmap: ###namespace added when loading parameters in move_base.launch
+global_frame: adc_car/odom
+update_frequency: 1.0
+publish_frequency: 0.0
+rolling_window: true
+transform_tolerance: 1.0
+width: 15.0
+height: 15.0
+resolution: 0.05
+origin_x: 0.0
+origin_y: 0.0
+
+plugins:
+  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
+  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

config/adc_car_move_base/global_planner/global_planner_params.yaml

+base_global_planner: "global_planner/GlobalPlanner"
+
+GlobalPlanner: #default
+  allow_unknown: false 
+  default_tolerance: 0.0 
+  publish_potential: false 
+  publish_scale: 100
+  old_navfn_behavior: false 
+  planner_costmap_publish_frequency: 0.0
+#planner to use
+  use_dijkstra: true 
+  use_quadratic: true 
+  use_grid_path: false 
+# planner parameters
+  lethal_cost: 253
+  neutral_cost: 50
+  cost_factor: 3.0
+  planner_window_x: 0.0
+  planner_window_y: 0.0
+# orientation fileter
+  orientation_mode: 0
+  orientation_window_size: 1 

config/adc_car_move_base/global_planner/iri_opendrive_params.yaml

+base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
+OpendriveGlobalPlanner:
+  angle_tol: 0.5
+  dist_tol: 0.3
+  multi_hyp: True
+  resolution: 0.01
+  scale_factor: 10.0
+  min_road_length: 0.01
+  cost_type: 0
+

config/adc_car_move_base/global_planner/sbpl_params.yaml

+base_global_planner: "SBPLLatticePlanner"

config/adc_car_move_base/local_planner/ackermann_params.yaml

+base_local_planner: "AckermannPlannerROS"
+
+AckermannPlannerROS:
+  max_sim_time: 3.0
+  min_sim_time: 1.0
+  sim_granularity: 0.2
+  angular_sim_granularity: 0.02
+
+  path_distance_bias: 50.0
+  goal_distance_bias: 10.0
+  occdist_scale: 0.05
+
+#  stop_time_buffer: 
+  oscillation_reset_dist: 0.002
+  oscillation_reset_angle: 0.001
+
+#  forward_point_distance:
+
+#  scaling_speed:
+#  max_scaling_factor:
+
+  trans_vel_samples: 31
+  steer_angle_samples: 21
+
+  prune_plan: true
+  xy_goal_tolerance: 0.25
+  yaw_goal_tolerance: 0.5
+  trans_stopped_vel: 0.1
+  rot_stopped_vel: 0.1
+
+  restore_defaults: false
+
+  max_trans_vel: 1.0
+  min_trans_vel: 0.0
+  max_trans_acc: 0.2
+  max_steer_angle: 0.4
+  min_steer_angle: -0.4
+  max_steer_vel: 0.3
+  min_steer_vel: -0.3
+  max_steer_acc: 1.0
+  axis_distance: 0.3662
+  wheel_distance: 0.216
+  wheel_radius: 0.05
+
+  split_ignore_lenght: 0.1
+
+  cmd_vel_avg: 1
+  odom_avg: 1
+
+  planner_patience: 5
+
+  hdiff_scale: 0.5
+  heading_points: 8

config/adc_car_move_base/local_planner/ackermann_sbpl_params.yaml

+base_local_planner: "AckermannPlannerROS"
+
+AckermannPlannerROS:
+  max_sim_time: 3.0
+  min_sim_time: 1.0
+  sim_granularity: 0.2
+  angular_sim_granularity: 0.02
+
+  path_distance_bias: 50.0
+  goal_distance_bias: 10.0
+  occdist_scale: 0.05
+
+#  stop_time_buffer: 
+  oscillation_reset_dist: 0.002
+  oscillation_reset_angle: 0.001
+
+#  forward_point_distance:
+
+#  scaling_speed:
+#  max_scaling_factor:
+
+  trans_vel_samples: 31
+  steer_angle_samples: 21
+
+  prune_plan: true
+  xy_goal_tolerance: 0.25
+  yaw_goal_tolerance: 0.5
+  trans_stopped_vel: 0.1
+  rot_stopped_vel: 0.1
+
+  restore_defaults: false
+
+  max_trans_vel: 1.0
+  min_trans_vel: -1.0
+  max_trans_acc: 0.2
+  max_steer_angle: 0.4
+  min_steer_angle: -0.4
+  max_steer_vel: 0.3
+  min_steer_vel: -0.3
+  max_steer_acc: 1.0
+  axis_distance: 0.3662
+  wheel_distance: 0.216
+  wheel_radius: 0.05
+
+  split_ignore_length: 0.1
+
+  cmd_vel_avg: 1
+  odom_avg: 1
+
+  planner_patience: 5
+
+  hdiff_scale: 0.5
+  heading_points: 8

config/adc_car_move_base/local_planner/dwa_params.yaml

+base_local_planner: "dwa_local_planner/DWAPlannerROS"
+latch_xy_goal_tolerance: true 
+
+DWAPlannerROS:
+# robot configuration parameters
+  max_trans_vel: 0.5
+  min_trans_vel: 0.1
+  max_vel_x: 0.5
+  min_vel_x: -0.2
+  max_vel_y: 0.0 
+  min_vel_y: 0.0 
+  max_rot_vel: 2.0
+  min_rot_vel: 0.2 
+  acc_lim_theta: 5.0
+  acc_lim_x: 1.0
+  acc_lim_y: 0.0 
+  acc_limit_trans: 1.0
+  rot_stopped_vel: 0.1
+  trans_stopped_vel: 0.1
+
+# goal tolerance parameters
+  xy_goal_tolerance: 0.1 
+  yaw_goal_tolerance: 0.1 
+
+# Forward simulation parameters
+  sim_time: 2.5
+  sim_granularity: 0.1
+  angular_sim_granularity: 0.1
+  vx_samples: 21
+  vy_samples: 1 
+  vth_samples: 20
+  controller_frequency: 20.0 # defines the sim_period
+
+# Trajectory scoring parameters
+  path_distance_bias: 32.0
+  goal_distance_bias: 24.0
+  occdist_scale: 0.02 #0.01
+  twirling_scale: 0.0
+  stop_time_buffer: 0.2
+  forward_point_distance: 0.325
+  scaling_speed: 0.25
+  max_scaling_factor: 0.2
+
+# Oscillation prevention parameters
+  oscillation_reset_dist: 0.05
+  oscillation_reset_angle: 0.2
+  
+# global plan parameters
+  prune_plan: true
+
+  #not in dynamic reconfigure
+  publish_traj_pc: false
+  global_frame_id: model_car/odom
+  publish_cost_grid_pc: false

config/adc_car_move_base/move_base_params.yaml

+#base_global_planner: #defined in the global planner parameter file
+#base_local_planner: #define in the local planner parameter file
+
+recovery_behavior_enabled: false
+recovery_behaviors:
+  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
+  - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
+  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
+
+controller_frequency: 10.0
+planner_patience: 5.0
+controller_patience: 5.0
+planner_frequency: 0.0 
+max_planning_retries: -1 
+
+conservative_reset_dist: 3.0
+
+clearing_rotation_allowed: false
+clearing_radius: 0.46 
+shutdown_costmaps: false
+
+oscillation_timeout: 0.0
+oscillation_distance: 0.5

config/adc_car_odometry_params_no_tf.yaml

+rate: 40
+odom_frame: "adc_car/odom"
+robot_frame: "adc_car/base_footprint"
+encoder_ticks: 60
+wheel_diameter: 0.100
+wheel_distance: 0.216
+axel_distance: 0.3662
+filter_coeff: 0.75
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_steer_control: 100.0
+min_steer_control: -100.0
+publish_tf: False
+

launch/sim_localization_global.launch

@@ -2,7 +2,7 @@
 <!-- -->
 <launch>
 
-  <arg name="name"                        default="model_car"/>
+  <arg name="name"                        default="adc_car"/>
   <arg name="circuit"                     default="sample"/>
   <arg name="map_name"                    default="$(arg circuit)"/>
   <arg name="output"                      default="screen"/>
@@ -11,7 +11,7 @@
   <arg name="world"                       default="empty"/>
   <arg name="gazebo_gui"                  default="True"/>
   <arg name="car_x"                       default="0.0"/>
-  <arg name="car_y"                       default="-0.22"/>
+  <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
@@ -23,16 +23,19 @@
     <arg name="car_x"                      value="$(arg car_x)"/>
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
-    <arg name="sim_config_path"            value="$(find iri_model_car_gazebo)/config"/>
-    <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
-    <arg name="control_config_file"        value="$(find iri_model_car_control)/config/params.yaml"/>
-    <arg name="odometry_config_file"       value="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
+    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/$(arg name)"/>
+    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/$(arg name)_controller_config.yaml"/>
+    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/$(arg name)_control_params.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/$(arg name)_odometry_params_no_tf.yaml"/>
+    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/$(arg name)_mux.yaml"/>
+    <arg name="standalone"                 value="False"/>
   </include>
 
   <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
-    <arg name="local_ekf_yaml_filename"    value="local_ekf_odom_imu"/>
-    <arg name="global_loc"                 value="true"/>
-    <arg name="global_ekf_yaml_filename"   value="global_ekf_odom_imu_amcl"/>
+    <arg name="name" value="$(arg name)"/>
+    <arg name="local_ekf_yaml_file"  default="$(find iri_adc_launch)/config/$(arg name)_local_ekf.yaml"/>
+    <arg name="global_ekf_yaml_file" default="$(find iri_adc_launch)/config/$(arg name)_global_ekf.yaml"/>
+    <arg name="global_loc" default="true"/>
   </include>
 
   <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
@@ -40,6 +43,8 @@
   </include>
 
   <include file="$(find iri_model_car_rosnav)/launch/nav_map.launch">
+    <arg name="name"                        value="$(arg name)"/>
+    <arg name="params_path"                 value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
     <arg name="move_base_params"            value="move_base_params.yaml"/>
     <arg name="costmap_common_params"       value="common_params.yaml"/>
     <arg name="costmap_local_params"        value="local_params.yaml"/>
@@ -49,6 +54,7 @@
     <arg name="odom_topic"                  value="/$(arg name)/local_odom_combined"/>
     <arg name="map_path"                    value="$(find iri_adc_circuit_example)/map"/>
     <arg name="map_name"                    value="$(arg map_name)"/>
+    <arg name="amcl_config"                 value="$(find iri_adc_launch)/config/$(arg name)_move_base/amcl_no_tf.yaml"/>
     <arg name="initial_x"                   value="$(arg car_x)"/>
     <arg name="initial_y"                   value="$(arg car_y)"/>
     <arg name="initial_yaw"                 value="$(arg car_yaw)"/>

launch/sim_localization_local.launch

@@ -2,10 +2,12 @@
 <!-- -->
 <launch>
 
-  <arg name="name"                        default="model_car"/>
+  <arg name="name"                        default="adc_car"/>
   <arg name="output"                      default="screen"/>
   <arg name="launch_prefix"               default=""/>
 
+
+
   <arg name="world"                       default="empty"/>
   <arg name="gazebo_gui"                  default="True"/>
   <arg name="car_x"                       default="0.0"/>
@@ -21,20 +23,23 @@
     <arg name="car_x"                      value="$(arg car_x)"/>
     <arg name="car_y"                      value="$(arg car_y)"/>
     <arg name="car_yaw"                    value="$(arg car_yaw)"/>
-    <arg name="sim_config_path"            value="$(find iri_model_car_gazebo)/config"/>
-    <arg name="car_controller_config_file" value="$(find iri_model_car_controller)/config/control.yaml"/>
-    <arg name="control_config_file"        value="$(find iri_model_car_control)/config/params.yaml"/>
-    <arg name="odometry_config_file"       value="$(find iri_model_car_odometry)/config/params_no_tf.yaml"/>
+    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/$(arg name)"/>
+    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/$(arg name)_controller_config.yaml"/>
+    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/$(arg name)_control_params.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/$(arg name)_odometry_params_no_tf.yaml"/>
+    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/$(arg name)_mux.yaml"/>