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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
e0b81c06
Commit
e0b81c06
authored
Feb 10, 2021
by
Fernando Herrero
Browse files
Update launchs for name adc_car
parent
201ae4d1
Changes
25
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config/adc_car_controller_config.yaml
View file @
e0b81c06
#
model
_car:
#
adc
_car:
# Publish all joint states -----------------------------------
joint_state_controller
:
type
:
joint_state_controller/JointStateController
...
...
config/adc_car_global_ekf.yaml
0 → 100644
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e0b81c06
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
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e0b81c06
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
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e0b81c06
#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
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e0b81c06
# 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
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#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
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#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
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#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
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#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
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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
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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
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base_global_planner
:
"
SBPLLatticePlanner"
config/adc_car_move_base/local_planner/ackermann_params.yaml
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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
0 → 100644
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e0b81c06
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
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e0b81c06
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
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View file @
e0b81c06
#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
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View file @
e0b81c06
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
View file @
e0b81c06
...
...
@@ -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
View file @
e0b81c06
...
...
@@ -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"
/>