Commit e0b81c06 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update launchs for name adc_car

parent 201ae4d1
#model_car:
#adc_car:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
......
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]
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]
#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
# 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
#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"}
#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
#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"}
#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"}
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
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
base_global_planner: "SBPLLatticePlanner"
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
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
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
#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
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
......@@ -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)"/>
......
......@@ -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"/>