From e0b81c06cc56d548e6bf7ab5d789ee1d4df2fcf5 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Wed, 10 Feb 2021 12:21:52 +0100
Subject: [PATCH] Update launchs for name adc_car
---
config/adc_car_controller_config.yaml | 2 +-
config/adc_car_global_ekf.yaml | 57 +++++++
config/adc_car_local_ekf.yaml | 38 +++++
config/adc_car_move_base/amcl_no_tf.yaml | 46 ++++++
.../costmap/common_params.yaml | 45 ++++++
.../costmap/local_params.yaml | 15 ++
.../costmap/map/global_params.yaml | 21 +++
.../costmap/no_map/global_params.yaml | 15 ++
.../costmap/no_map/sbpl_global_params.yaml | 15 ++
.../global_planner/global_planner_params.yaml | 22 +++
.../global_planner/iri_opendrive_params.yaml | 10 ++
.../global_planner/sbpl_params.yaml | 1 +
.../local_planner/ackermann_params.yaml | 53 +++++++
.../local_planner/ackermann_sbpl_params.yaml | 53 +++++++
.../local_planner/dwa_params.yaml | 54 +++++++
.../adc_car_move_base/move_base_params.yaml | 23 +++
config/adc_car_odometry_params_no_tf.yaml | 14 ++
launch/sim_localization_global.launch | 24 +--
launch/sim_localization_local.launch | 27 ++--
launch/sim_mapping.launch | 26 ++--
launch/sim_navigation.launch | 27 ++--
rviz/localization_global.rviz | 74 ++++-----
...alization.rviz => localization_local.rviz} | 78 +++++-----
rviz/mapping.rviz | 143 ++++++++++++------
rviz/nav.rviz | 60 ++++----
25 files changed, 747 insertions(+), 196 deletions(-)
create mode 100644 config/adc_car_global_ekf.yaml
create mode 100644 config/adc_car_local_ekf.yaml
create mode 100644 config/adc_car_move_base/amcl_no_tf.yaml
create mode 100644 config/adc_car_move_base/costmap/common_params.yaml
create mode 100644 config/adc_car_move_base/costmap/local_params.yaml
create mode 100644 config/adc_car_move_base/costmap/map/global_params.yaml
create mode 100644 config/adc_car_move_base/costmap/no_map/global_params.yaml
create mode 100644 config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml
create mode 100644 config/adc_car_move_base/global_planner/global_planner_params.yaml
create mode 100644 config/adc_car_move_base/global_planner/iri_opendrive_params.yaml
create mode 100644 config/adc_car_move_base/global_planner/sbpl_params.yaml
create mode 100644 config/adc_car_move_base/local_planner/ackermann_params.yaml
create mode 100644 config/adc_car_move_base/local_planner/ackermann_sbpl_params.yaml
create mode 100644 config/adc_car_move_base/local_planner/dwa_params.yaml
create mode 100644 config/adc_car_move_base/move_base_params.yaml
create mode 100644 config/adc_car_odometry_params_no_tf.yaml
rename rviz/{localization.rviz => localization_local.rviz} (91%)
diff --git a/config/adc_car_controller_config.yaml b/config/adc_car_controller_config.yaml
index 5281aac..d1b958a 100644
--- a/config/adc_car_controller_config.yaml
+++ b/config/adc_car_controller_config.yaml
@@ -1,4 +1,4 @@
-#model_car:
+#adc_car:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
diff --git a/config/adc_car_global_ekf.yaml b/config/adc_car_global_ekf.yaml
new file mode 100644
index 0000000..ac46ea0
--- /dev/null
+++ b/config/adc_car_global_ekf.yaml
@@ -0,0 +1,57 @@
+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]
diff --git a/config/adc_car_local_ekf.yaml b/config/adc_car_local_ekf.yaml
new file mode 100644
index 0000000..d10847e
--- /dev/null
+++ b/config/adc_car_local_ekf.yaml
@@ -0,0 +1,38 @@
+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]
diff --git a/config/adc_car_move_base/amcl_no_tf.yaml b/config/adc_car_move_base/amcl_no_tf.yaml
new file mode 100644
index 0000000..4eb0b28
--- /dev/null
+++ b/config/adc_car_move_base/amcl_no_tf.yaml
@@ -0,0 +1,46 @@
+#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
diff --git a/config/adc_car_move_base/costmap/common_params.yaml b/config/adc_car_move_base/costmap/common_params.yaml
new file mode 100644
index 0000000..f795dd3
--- /dev/null
+++ b/config/adc_car_move_base/costmap/common_params.yaml
@@ -0,0 +1,45 @@
+# 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
diff --git a/config/adc_car_move_base/costmap/local_params.yaml b/config/adc_car_move_base/costmap/local_params.yaml
new file mode 100644
index 0000000..492193e
--- /dev/null
+++ b/config/adc_car_move_base/costmap/local_params.yaml
@@ -0,0 +1,15 @@
+#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"}
diff --git a/config/adc_car_move_base/costmap/map/global_params.yaml b/config/adc_car_move_base/costmap/map/global_params.yaml
new file mode 100644
index 0000000..1df7af2
--- /dev/null
+++ b/config/adc_car_move_base/costmap/map/global_params.yaml
@@ -0,0 +1,21 @@
+#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
diff --git a/config/adc_car_move_base/costmap/no_map/global_params.yaml b/config/adc_car_move_base/costmap/no_map/global_params.yaml
new file mode 100644
index 0000000..8377a57
--- /dev/null
+++ b/config/adc_car_move_base/costmap/no_map/global_params.yaml
@@ -0,0 +1,15 @@
+#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"}
diff --git a/config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml b/config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml
new file mode 100644
index 0000000..8377a57
--- /dev/null
+++ b/config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml
@@ -0,0 +1,15 @@
+#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"}
diff --git a/config/adc_car_move_base/global_planner/global_planner_params.yaml b/config/adc_car_move_base/global_planner/global_planner_params.yaml
new file mode 100644
index 0000000..43e309e
--- /dev/null
+++ b/config/adc_car_move_base/global_planner/global_planner_params.yaml
@@ -0,0 +1,22 @@
+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
diff --git a/config/adc_car_move_base/global_planner/iri_opendrive_params.yaml b/config/adc_car_move_base/global_planner/iri_opendrive_params.yaml
new file mode 100644
index 0000000..6aaa42b
--- /dev/null
+++ b/config/adc_car_move_base/global_planner/iri_opendrive_params.yaml
@@ -0,0 +1,10 @@
+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
+
diff --git a/config/adc_car_move_base/global_planner/sbpl_params.yaml b/config/adc_car_move_base/global_planner/sbpl_params.yaml
new file mode 100644
index 0000000..4eb28a3
--- /dev/null
+++ b/config/adc_car_move_base/global_planner/sbpl_params.yaml
@@ -0,0 +1 @@
+base_global_planner: "SBPLLatticePlanner"
diff --git a/config/adc_car_move_base/local_planner/ackermann_params.yaml b/config/adc_car_move_base/local_planner/ackermann_params.yaml
new file mode 100644
index 0000000..1aa1eea
--- /dev/null
+++ b/config/adc_car_move_base/local_planner/ackermann_params.yaml
@@ -0,0 +1,53 @@
+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
diff --git a/config/adc_car_move_base/local_planner/ackermann_sbpl_params.yaml b/config/adc_car_move_base/local_planner/ackermann_sbpl_params.yaml
new file mode 100644
index 0000000..7826af5
--- /dev/null
+++ b/config/adc_car_move_base/local_planner/ackermann_sbpl_params.yaml
@@ -0,0 +1,53 @@
+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
diff --git a/config/adc_car_move_base/local_planner/dwa_params.yaml b/config/adc_car_move_base/local_planner/dwa_params.yaml
new file mode 100644
index 0000000..c9d22a1
--- /dev/null
+++ b/config/adc_car_move_base/local_planner/dwa_params.yaml
@@ -0,0 +1,54 @@
+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
diff --git a/config/adc_car_move_base/move_base_params.yaml b/config/adc_car_move_base/move_base_params.yaml
new file mode 100644
index 0000000..d64f555
--- /dev/null
+++ b/config/adc_car_move_base/move_base_params.yaml
@@ -0,0 +1,23 @@
+#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
diff --git a/config/adc_car_odometry_params_no_tf.yaml b/config/adc_car_odometry_params_no_tf.yaml
new file mode 100644
index 0000000..51d4027
--- /dev/null
+++ b/config/adc_car_odometry_params_no_tf.yaml
@@ -0,0 +1,14 @@
+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
+
diff --git a/launch/sim_localization_global.launch b/launch/sim_localization_global.launch
index 7eddbf6..c6346f6 100644
--- a/launch/sim_localization_global.launch
+++ b/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)"/>
diff --git a/launch/sim_localization_local.launch b/launch/sim_localization_local.launch
index 9973937..ae3c50c 100644
--- a/launch/sim_localization_local.launch
+++ b/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/$(arg name)_mux.yaml"/>
+ <arg name="standalone" value="True"/>
</include>
<include file="$(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="false"/>
-
+ <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="false"/>
</include>
- <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
- args="0 0 0 0 0 0 map model_car/odom"/>
+<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_map_odom"
+ args="0 0 0 0 0 0 map $(arg name)/odom"/>-->
<include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
<arg name="ns" value="$(arg name)"/>
@@ -47,7 +52,7 @@
<node name="rviz"
pkg="rviz"
type="rviz"
- args="-d $(find iri_adc_launch)/rviz/localization.rviz">
+ args="-d $(find iri_adc_launch)/rviz/localization_local.rviz">
</node>
</launch>
diff --git a/launch/sim_mapping.launch b/launch/sim_mapping.launch
index b200a3e..9a1547e 100644
--- a/launch/sim_mapping.launch
+++ b/launch/sim_mapping.launch
@@ -2,16 +2,17 @@
<!-- -->
<launch>
- <arg name="name" default="model_car"/>
+ <arg name="name" default="adc_car"/>
<arg name="circuit" default="sample"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
+
+ <arg name="resolution" default="0.05"/>
<arg name="world" default="empty"/>
<arg name="gazebo_gui" default="True"/>
<arg name="car_x" default="0.0"/>
- <arg name="car_y" default="-0.22"/>
+ <arg name="car_y" default="0.0"/>
<arg name="car_yaw" default="0.0"/>
- <arg name="resolution" default="0.05"/>
<include file="$(find iri_model_car_gazebo)/launch/sim.launch">
<arg name="name" value="$(arg name)"/>
@@ -22,16 +23,19 @@
<arg name="car_x" value="$(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="$(find iri_model_car_rosnav)/launch/include/localization.launch">
- <arg name="local_ekf_yaml_filename" value="local_ekf_odom_imu"/>
- <arg name="global_loc" value="false"/>
-
+ <arg name="name" value="$(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="false"/>
</include>
<include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
@@ -39,6 +43,7 @@
</include>
<include file="$(find iri_model_car_rosnav)/launch/nav_mapping.launch">
+ <arg name="name" value="$(arg name)"/>
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
@@ -66,4 +71,3 @@
</node>
</launch>
-
diff --git a/launch/sim_navigation.launch b/launch/sim_navigation.launch
index 4a34f33..bef8360 100644
--- a/launch/sim_navigation.launch
+++ b/launch/sim_navigation.launch
@@ -2,9 +2,10 @@
<!-- -->
<launch>
- <arg name="name" default="model_car"/>
+ <arg name="name" default="adc_car"/>
<arg name="circuit" default="sample"/>
<arg name="map_name" default="$(arg circuit)"/>
+ <arg name="global_planner" default="sbpl"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
@@ -23,16 +24,19 @@
<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">
@@ -40,15 +44,18 @@
</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"/>
<arg name="costmap_global_params" value="global_params.yaml"/>
- <arg name="local_planner" value="ackermann"/>
- <arg name="global_planner" value="sbpl_ackermann"/>
+ <arg name="local_planner" value="ackermann_sbpl"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
<arg name="odom_topic" value="/$(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)"/>
diff --git a/rviz/localization_global.rviz b/rviz/localization_global.rviz
index 8026b0d..1ddeeab 100644
--- a/rviz/localization_global.rviz
+++ b/rviz/localization_global.rviz
@@ -200,8 +200,8 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: model_car/robot_description
- TF Prefix: model_car
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
Update Interval: 0
Value: true
Visual Enabled: true
@@ -232,7 +232,7 @@ Visualization Manager:
Enabled: true
Name: RearCenterRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_center_sonar
+ Topic: /adc_car/sensors/range/rear_center_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -242,7 +242,7 @@ Visualization Manager:
Enabled: true
Name: RearLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_left_sonar
+ Topic: /adc_car/sensors/range/rear_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -252,7 +252,7 @@ Visualization Manager:
Enabled: true
Name: RearRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_right_sonar
+ Topic: /adc_car/sensors/range/rear_right_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -262,7 +262,7 @@ Visualization Manager:
Enabled: true
Name: SideLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_left_sonar
+ Topic: /adc_car/sensors/range/side_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -272,7 +272,7 @@ Visualization Manager:
Enabled: true
Name: SideRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_right_sonar
+ Topic: /adc_car/sensors/range/side_right_sonar
Unreliable: false
Value: true
Enabled: false
@@ -302,7 +302,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /model_car/sensors/scan
+ Topic: /adc_car/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -313,12 +313,12 @@ Visualization Manager:
Enabled: false
History Length: 2
Name: Imu
- Topic: /model_car/sensors/imu_data
+ Topic: /adc_car/sensors/imu_data
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/basler_camera/image_raw
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -330,7 +330,7 @@ Visualization Manager:
Value: true
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/delock_camera/image_raw
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -375,7 +375,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -409,7 +409,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -443,7 +443,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -477,7 +477,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -511,7 +511,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -545,7 +545,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -579,7 +579,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -613,7 +613,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
Enabled: true
@@ -626,7 +626,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
- Topic: /model_car/map
+ Topic: /adc_car/map
Unreliable: false
Use Timestamp: false
Value: true
@@ -642,29 +642,29 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 0.30000001192092896
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
- Enabled: true
+ Enabled: false
Name: LocalCostMap
- Topic: /model_car/move_base/local_costmap/costmap
+ Topic: /adc_car/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
- Value: true
+ Value: false
- Alpha: 0.20000000298023224
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
- Enabled: true
+ Enabled: false
Name: GlobalCostMap
- Topic: /model_car/move_base/global_costmap/costmap
+ Topic: /adc_car/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
- Value: true
+ Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
@@ -685,7 +685,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/GlobalPlanner/plan
+ Topic: /adc_car/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -708,7 +708,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/SBPLLatticePlanner/plan
+ Topic: /adc_car/move_base/SBPLLatticePlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -731,7 +731,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/AckermannPlannerROS/local_plan
+ Topic: /adc_car/move_base/AckermannPlannerROS/local_plan
Unreliable: false
Value: true
Enabled: true
@@ -752,11 +752,11 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
- Topic: /model_car/initialpose
+ Topic: /adc_car/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
@@ -764,23 +764,23 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 20.127628326416016
+ Distance: 20.965930938720703
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: -4.957810401916504
- Y: 1.3439643383026123
- Z: -0.7569671869277954
+ X: 3.482712984085083
+ Y: 3.961909532546997
+ Z: 0.5220368504524231
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.4197964668273926
- Target Frame: model_car/base_footprint
+ Target Frame: adc_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.1285836696624756
Saved: ~
diff --git a/rviz/localization.rviz b/rviz/localization_local.rviz
similarity index 91%
rename from rviz/localization.rviz
rename to rviz/localization_local.rviz
index da57988..4f2ec8c 100644
--- a/rviz/localization.rviz
+++ b/rviz/localization_local.rviz
@@ -12,7 +12,7 @@ Panels:
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1
Splitter Ratio: 0.637188196182251
- Tree Height: 705
+ Tree Height: 641
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -199,8 +199,8 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: model_car/robot_description
- TF Prefix: model_car
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
Update Interval: 0
Value: true
Visual Enabled: true
@@ -231,7 +231,7 @@ Visualization Manager:
Enabled: true
Name: RearCenterRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_center_sonar
+ Topic: /adc_car/sensors/range/rear_center_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -241,7 +241,7 @@ Visualization Manager:
Enabled: true
Name: RearLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_left_sonar
+ Topic: /adc_car/sensors/range/rear_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -251,7 +251,7 @@ Visualization Manager:
Enabled: true
Name: RearRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_right_sonar
+ Topic: /adc_car/sensors/range/rear_right_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -261,7 +261,7 @@ Visualization Manager:
Enabled: true
Name: SideLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_left_sonar
+ Topic: /adc_car/sensors/range/side_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -271,7 +271,7 @@ Visualization Manager:
Enabled: true
Name: SideRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_right_sonar
+ Topic: /adc_car/sensors/range/side_right_sonar
Unreliable: false
Value: true
Enabled: false
@@ -301,7 +301,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /model_car/sensors/scan
+ Topic: /adc_car/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -312,12 +312,12 @@ Visualization Manager:
Enabled: false
History Length: 2
Name: Imu
- Topic: /model_car/sensors/imu_data
+ Topic: /adc_car/sensors/imu_data
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/basler_camera/image_raw
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -329,7 +329,7 @@ Visualization Manager:
Value: true
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/delock_camera/image_raw
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -374,7 +374,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -408,7 +408,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -442,7 +442,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -476,7 +476,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -510,7 +510,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -544,7 +544,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -564,7 +564,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 1
Name: (yellow)OdomCombinedGlobal(1)
Position Tolerance: 0
@@ -578,9 +578,9 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0.25
Class: rviz/Odometry
Covariance:
@@ -598,7 +598,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 500
Name: (yellow)OdomCombinedGlobal
Position Tolerance: 0.25
@@ -612,9 +612,9 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
- Value: true
+ Value: false
Enabled: true
Name: Odometry
- Class: rviz/Group
@@ -625,7 +625,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
- Topic: /model_car/map
+ Topic: /adc_car/map
Unreliable: false
Use Timestamp: false
Value: true
@@ -641,7 +641,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 0.30000001192092896
@@ -650,7 +650,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: LocalCostMap
- Topic: /model_car/move_base/local_costmap/costmap
+ Topic: /adc_car/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -660,7 +660,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: GlobalCostMap
- Topic: /model_car/move_base/global_costmap/costmap
+ Topic: /adc_car/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -684,7 +684,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/GlobalPlanner/plan
+ Topic: /adc_car/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -707,7 +707,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/AckermannPlannerROS/local_plan
+ Topic: /adc_car/move_base/AckermannPlannerROS/local_plan
Unreliable: false
Value: true
Enabled: false
@@ -716,7 +716,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
- Fixed Frame: model_car/odom
+ Fixed Frame: adc_car/odom
Frame Rate: 30
Name: root
Tools:
@@ -728,11 +728,11 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
- Topic: /model_car/initialpose
+ Topic: /adc_car/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
@@ -756,7 +756,7 @@ Visualization Manager:
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7853981852531433
- Target Frame: model_car/base_footprint
+ Target Frame: adc_car/base_footprint
Value: Orbit (rviz)
Yaw: 0.7853981852531433
Saved: ~
@@ -765,10 +765,10 @@ Window Geometry:
collapsed: false
FrontImage:
collapsed: false
- Height: 936
+ Height: 872
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001bb0000034efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000034e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e000000000000000000000001000001850000034efc020000000afb0000001400460072006f006e00740049006d006100670065010000003d0000016f0000001600fffffffb0000001200520065006100720049006d00610067006501000001b2000001d90000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d00610067006501000003b2000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003ce0000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000032a0000034e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 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
RearImage:
collapsed: false
Selection:
@@ -779,6 +779,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1654
- X: 153
- Y: 39
+ Width: 1373
+ X: 67
+ Y: 0
diff --git a/rviz/mapping.rviz b/rviz/mapping.rviz
index e7a7258..e1bc3c3 100644
--- a/rviz/mapping.rviz
+++ b/rviz/mapping.rviz
@@ -7,6 +7,7 @@ Panels:
- /Global Options1
- /Models1
- /Sensors1/Sonar1
+ - /Odometry1
- /Odometry1/(red)OdomEncoders(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1
@@ -199,8 +200,8 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: model_car/robot_description
- TF Prefix: model_car
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
Update Interval: 0
Value: true
Visual Enabled: true
@@ -231,7 +232,7 @@ Visualization Manager:
Enabled: true
Name: RearCenterRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_center_sonar
+ Topic: /adc_car/sensors/range/rear_center_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -241,7 +242,7 @@ Visualization Manager:
Enabled: true
Name: RearLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_left_sonar
+ Topic: /adc_car/sensors/range/rear_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -251,7 +252,7 @@ Visualization Manager:
Enabled: true
Name: RearRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_right_sonar
+ Topic: /adc_car/sensors/range/rear_right_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -261,7 +262,7 @@ Visualization Manager:
Enabled: true
Name: SideLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_left_sonar
+ Topic: /adc_car/sensors/range/side_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -271,7 +272,7 @@ Visualization Manager:
Enabled: true
Name: SideRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_right_sonar
+ Topic: /adc_car/sensors/range/side_right_sonar
Unreliable: false
Value: true
Enabled: false
@@ -301,7 +302,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /model_car/sensors/scan
+ Topic: /adc_car/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -312,12 +313,12 @@ Visualization Manager:
Enabled: false
History Length: 2
Name: Imu
- Topic: /model_car/sensors/imu_data
+ Topic: /adc_car/sensors/imu_data
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/basler_camera/image_raw
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -329,7 +330,7 @@ Visualization Manager:
Value: true
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/delock_camera/image_raw
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -360,7 +361,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 1
Name: (blue)OdomGroundTruth(1)
Position Tolerance: 0
@@ -374,9 +375,9 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0.25
Class: rviz/Odometry
Covariance:
@@ -394,7 +395,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 500
Name: (blue)OdomGroundTruth
Position Tolerance: 0.25
@@ -408,9 +409,9 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
@@ -428,7 +429,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 1
Name: (red)OdomEncoders(1)
Position Tolerance: 0
@@ -442,9 +443,9 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0.25
Class: rviz/Odometry
Covariance:
@@ -462,7 +463,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 500
Name: (red)OdomEncoders
Position Tolerance: 0.25
@@ -476,9 +477,9 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
@@ -510,7 +511,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -544,7 +545,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -564,7 +565,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 1
Name: (yellow)OdomCombinedGlobal(1)
Position Tolerance: 0
@@ -578,9 +579,9 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
- Value: true
+ Value: false
- Angle Tolerance: 0.25
Class: rviz/Odometry
Covariance:
@@ -598,7 +599,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
- Enabled: true
+ Enabled: false
Keep: 500
Name: (yellow)OdomCombinedGlobal
Position Tolerance: 0.25
@@ -612,10 +613,10 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
- Value: true
- Enabled: false
+ Value: false
+ Enabled: true
Name: Odometry
- Class: rviz/Group
Displays:
@@ -625,7 +626,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
- Topic: /model_car/map
+ Topic: /adc_car/map
Unreliable: false
Use Timestamp: false
Value: true
@@ -641,7 +642,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 0.30000001192092896
@@ -650,7 +651,7 @@ Visualization Manager:
Draw Behind: false
Enabled: false
Name: LocalCostMap
- Topic: /model_car/move_base/local_costmap/costmap
+ Topic: /adc_car/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
@@ -660,7 +661,7 @@ Visualization Manager:
Draw Behind: false
Enabled: false
Name: GlobalCostMap
- Topic: /model_car/move_base/global_costmap/costmap
+ Topic: /adc_car/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
@@ -684,7 +685,53 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/GlobalPlanner/plan
+ Topic: /adc_car/move_base/GlobalPlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 0; 255
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /adc_car/move_base/SBPLLatticePlanner/plan
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 25; 0; 255
+ Enabled: true
+ Head Diameter: 0.30000001192092896
+ Head Length: 0.20000000298023224
+ Length: 0.30000001192092896
+ Line Style: Lines
+ Line Width: 0.029999999329447746
+ Name: GlobalPath
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Pose Color: 255; 85; 255
+ Pose Style: None
+ Radius: 0.029999999329447746
+ Shaft Diameter: 0.10000000149011612
+ Shaft Length: 0.10000000149011612
+ Topic: /adc_car/move_base/OpendriveGlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -707,7 +754,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/AckermannPlannerROS/local_plan
+ Topic: /adc_car/move_base/AckermannPlannerROS/local_plan
Unreliable: false
Value: true
Enabled: true
@@ -728,11 +775,11 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
- Topic: /model_car/initialpose
+ Topic: /adc_car/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
@@ -740,25 +787,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 19.73822784423828
+ Distance: 19.4012393951416
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: 0.6564117670059204
+ Y: 1.452591896057129
+ Z: -1.8708149194717407
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 1.5697963237762451
- Target Frame: model_car/base_footprint
+ Pitch: 1.4953978061676025
+ Target Frame: adc_car/base_footprint
Value: Orbit (rviz)
- Yaw: 3.1404013633728027
+ Yaw: 3.115399122238159
Saved: ~
Window Geometry:
Displays:
@@ -768,7 +815,7 @@ Window Geometry:
Height: 872
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001560000030efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000030e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e000000000000000000000001000001850000030efc020000000cfb0000001400460072006f006e00740049006d006100670065010000003d000001760000001600fffffffb0000001200520065006100720049006d00610067006501000001b9000001920000001600fffffffb0000001400460072006f006e00740049006d006100670065010000003d000001530000000000000000fb0000001200520065006100720049006d0061006700650100000196000001b50000000000000000fb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d0061006700650100000319000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003350000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002760000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 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
RearImage:
collapsed: false
Selection:
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index e72ec91..c5b8ec6 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -199,8 +199,8 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: model_car/robot_description
- TF Prefix: model_car
+ Robot Description: adc_car/robot_description
+ TF Prefix: adc_car
Update Interval: 0
Value: true
Visual Enabled: true
@@ -231,7 +231,7 @@ Visualization Manager:
Enabled: true
Name: RearCenterRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_center_sonar
+ Topic: /adc_car/sensors/range/rear_center_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -241,7 +241,7 @@ Visualization Manager:
Enabled: true
Name: RearLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_left_sonar
+ Topic: /adc_car/sensors/range/rear_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -251,7 +251,7 @@ Visualization Manager:
Enabled: true
Name: RearRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/rear_right_sonar
+ Topic: /adc_car/sensors/range/rear_right_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -261,7 +261,7 @@ Visualization Manager:
Enabled: true
Name: SideLeftRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_left_sonar
+ Topic: /adc_car/sensors/range/side_left_sonar
Unreliable: false
Value: true
- Alpha: 0.5
@@ -271,7 +271,7 @@ Visualization Manager:
Enabled: true
Name: SideRightRange
Queue Size: 100
- Topic: /model_car/sensors/range/side_right_sonar
+ Topic: /adc_car/sensors/range/side_right_sonar
Unreliable: false
Value: true
Enabled: false
@@ -301,7 +301,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
- Topic: /model_car/sensors/scan
+ Topic: /adc_car/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -312,12 +312,12 @@ Visualization Manager:
Enabled: false
History Length: 2
Name: Imu
- Topic: /model_car/sensors/imu_data
+ Topic: /adc_car/sensors/imu_data
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/basler_camera/image_raw
+ Image Topic: /adc_car/sensors/basler_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -329,7 +329,7 @@ Visualization Manager:
Value: true
- Class: rviz/Image
Enabled: true
- Image Topic: /model_car/sensors/delock_camera/image_raw
+ Image Topic: /adc_car/sensors/delock_camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
@@ -374,7 +374,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -408,7 +408,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom_ground_truth
+ Topic: /adc_car/odom_ground_truth
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -442,7 +442,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -476,7 +476,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/odom
+ Topic: /adc_car/odom
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -510,7 +510,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -544,7 +544,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/local_odom_combined
+ Topic: /adc_car/local_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0
@@ -578,7 +578,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
- Angle Tolerance: 0.25
@@ -612,7 +612,7 @@ Visualization Manager:
Shaft Length: 0.25
Shaft Radius: 0.009999999776482582
Value: Arrow
- Topic: /model_car/global_odom_combined
+ Topic: /adc_car/global_odom_combined
Unreliable: false
Value: true
Enabled: false
@@ -625,7 +625,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
- Topic: /model_car/map
+ Topic: /adc_car/map
Unreliable: false
Use Timestamp: false
Value: true
@@ -641,7 +641,7 @@ Visualization Manager:
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
Unreliable: false
Value: true
- Alpha: 0.30000001192092896
@@ -650,7 +650,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: LocalCostMap
- Topic: /model_car/move_base/local_costmap/costmap
+ Topic: /adc_car/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -660,7 +660,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: GlobalCostMap
- Topic: /model_car/move_base/global_costmap/costmap
+ Topic: /adc_car/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
@@ -684,7 +684,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/GlobalPlanner/plan
+ Topic: /adc_car/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -707,7 +707,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/SBPLLatticePlanner/plan
+ Topic: /adc_car/move_base/SBPLLatticePlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -730,7 +730,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/OpendriveGlobalPlanner/plan
+ Topic: /adc_car/move_base/OpendriveGlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 1
@@ -753,7 +753,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
- Topic: /model_car/move_base/AckermannPlannerROS/local_plan
+ Topic: /adc_car/move_base/AckermannPlannerROS/local_plan
Unreliable: false
Value: true
Enabled: true
@@ -774,11 +774,11 @@ Visualization Manager:
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
- Topic: /model_car/initialpose
+ Topic: /adc_car/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
- Topic: /model_car/move_base_simple/goal
+ Topic: /adc_car/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
@@ -802,7 +802,7 @@ Visualization Manager:
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.4953978061676025
- Target Frame: model_car/base_footprint
+ Target Frame: adc_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.120399236679077
Saved: ~
--
GitLab