Commit e1317c0c authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'sign_localization' into 'master'

Updated the configuration of the landmark global localization.

See merge request !3
parents 33c33df9 4b653503
width: 1280
height: 960
frame_id: 'adc_car/rear_camera_uvc_camera_optical'
video_mode: 'mjpeg'
frame_rate: 30.0
video_mode: 'yuyv'
frame_rate: 7.5
......@@ -5,7 +5,7 @@ speed_Kd: 0.00
speed_i_max: 20.0
speed_deadband: 0.1
watchdog_time: 0.5
axel_distance: 0.36
axel_distance: 0.3662
max_steer_angle: 0.5
min_steer_angle: -0.5
max_speed_control: 20.0
......
......@@ -5,33 +5,26 @@ two_d_mode: true
print_diagnostics: true
debug: false
debug_out_file: /tmp/debug_ekf_localization.txt
use_control: true
use_control: false
control_config: [true, true, false, false, false, true]
publish_tf: true
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: /adc_car/local_odom_combined
odom0_config: [false, false, false,
false, false, false,
true, false, false,
true, true, false,
false, false, true,
false, false, false]
imu0: /adc_car/sensors/imu_data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
imu0_differential: false
imu0_relative: true
#imu0_remove_gravitational_acceleration: true
imu0_remove_gravitational_acceleration: true
pose0: /adc_car/amcl_pose
pose0_config: [true, true, false,
......@@ -45,12 +38,19 @@ pose0_relative: false
#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]
pose1: /adc_car/iri_adc_landmarks_slam_solver/landmarks_localization_pose
pose1_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose1_differential: true
pose1_relative: false
#pose1_queue_size: 5
#pose1_rejection_threshold: 2 # Note the difference in parameter name
#pose1_nodelay: false
#
#meaning_config: [x, y, z,
# roll, pitch, yaw,
......
......@@ -17,19 +17,19 @@ world_frame: adc_car/odom
odom0: /adc_car/odom
odom0_config: [false, false, false,
false, false, false,
true, false, false,
true, true, false,
false, false, true,
false, false, false]
imu0: /adc_car/sensors/imu_data
imu0: /adc_car/sensors/imu
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
false, false, false]
false, false, false,
true, true, true,
true, true, true]
imu0_differential: false
imu0_relative: true
imu0_relative: false
imu0_remove_gravitational_acceleration: true
#meaning_config: [x, y, z,
......
rate: 100
publish_visualization: True
range_filter_en: True
detection_max_range: 4.0
confidence_filter_en: False
detection_min_confidence: 126
id_filter_en: True
ids_enabled: "0, 1, 2"
time_persistance_filter_en: True
time_persistance_filter_orientation_en: True
time_persistance_alpha_window: 0.15
time_persistance_range_window: 0.2
time_persistance_orientation_th: 0.4
time_persistance_min_detections: 4
rate: 10
roi_x_offset: 0
roi_y_offset: 320
roi_width: 1280
roi_height: 320
output_format: "mono8"
rate: 10
roi_x_offset: 0
roi_y_offset: 320
roi_width: 1280
roi_height: 256
output_format: "mono8"
rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization: True
load_landmarks: False
landmarks_pos_fixed: False
search_for_new_landmarks: True
first_robot_state_estimated: False
last_robot_state_estimated: False
all_robot_states_estimated: True
amcl_localization: True
calculate_covariance: False
publish_tf_map_odom: False
update_problem_rate: 0.001
update_problem_distance: 0.2
update_problem_angle: 0.1
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.3
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization: True
load_landmarks: True
landmarks_pos_fixed: False
search_for_new_landmarks: False
first_robot_state_estimated: True
last_robot_state_estimated: False
all_robot_states_estimated: False
amcl_localization: False
calculate_covariance: False
publish_tf_map_odom: True
update_problem_rate: 0.001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.3
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization: True
load_landmarks: True
landmarks_pos_fixed: False
search_for_new_landmarks: False
first_robot_state_estimated: False
last_robot_state_estimated: False
all_robot_states_estimated: True
amcl_localization: True
calculate_covariance: False
publish_tf_map_odom: False
update_problem_rate: 0.001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.3
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization: True
load_landmarks: True
landmarks_pos_fixed: True
search_for_new_landmarks: False
first_robot_state_estimated: False
last_robot_state_estimated: False
all_robot_states_estimated: False
amcl_localization: False
calculate_covariance: True
publish_tf_map_odom: False
update_problem_rate: 0.001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: 120
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.3
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1
publish_visualization: True
load_landmarks: False
landmarks_pos_fixed: False
search_for_new_landmarks: True
first_robot_state_estimated: True
last_robot_state_estimated: False
all_robot_states_estimated: False
amcl_localization: False
calculate_covariance: False
publish_tf_map_odom: True
update_problem_rate: 0.001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: -1
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
sensor_sigma_r: 0.2
sensor_sigma_th: 0.3
odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001
......@@ -11,8 +11,8 @@ min_particles: 1000
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.1
update_min_a: 0.1
update_min_d: 0.01
update_min_a: 0.01
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
......@@ -38,9 +38,9 @@ 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: 0.02
odom_alpha4: 0.2
odom_alpha1: 10.0
odom_alpha2: 10.0
odom_alpha3: 0.2
odom_alpha4: 10.0
odom_alpha5: 0.2
tf_broadcast: false
......@@ -34,8 +34,8 @@ obstacle_layer:
min_obstacle_height: -0.2,
max_obstacle_height: 1.0,
expected_update_rate: 1,
obstacle_range: 30.0,
raytrace_range: 40.0
obstacle_range: 5.0,
raytrace_range: 10.0
}
inflation_layer:
......
base_local_planner: "AckermannPlannerROS"
AckermannPlannerROS:
max_sim_time: 3.0
min_sim_time: 1.0
sim_granularity: 0.2
angular_sim_granularity: 0.02
max_sim_time: 1.75
min_sim_time: 1.75
sim_granularity: 0.05
angular_sim_granularity: 0.01
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
angular_vel_samples: 21
use_steer_angle_cmd: true
prune_plan: true
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.5
yaw_goal_tolerance: 0.2
trans_stopped_vel: 0.1
rot_stopped_vel: 0.1
restore_defaults: false
max_trans_vel: 1.0
min_trans_vel: 0.11
max_trans_acc: 0.2
max_steer_angle: 0.5
min_steer_angle: -0.5
min_trans_vel: 0.0
max_trans_acc: 0.5
max_steer_angle: 0.46
min_steer_angle: -0.46
max_steer_vel: 0.3
min_steer_vel: -0.3
max_steer_acc: 1.0
max_steer_acc: 5.0
max_angular_vel: 0.5
min_angular_vel: -0.5
axis_distance: 0.36
wheel_distance: 0.265
wheel_radius: 0.05
use_trans_vel_deadzone: True
trans_vel_deadzone: 0.1
split_ignore_length: 0.1
cmd_vel_avg: 1
......@@ -49,5 +50,5 @@ AckermannPlannerROS:
planner_patience: 5
hdiff_scale: 0.5
hdiff_scale: 1.0
heading_points: 8
horizontal_fov: 1.4
width: 1024
height: 768
width: 1280
height: 960
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
......
This diff is collapsed.
This diff is collapsed.
101.0 1.374 1.0065 -0.7854 2
102.0 1.426 1.0065 0.7854 2
103.0 0.2015 1.484 -0.7854 2
104.0 0.2015 1.536 -2.3562 2
105.0 1.374 1.9735 -2.3562 2
106.0 1.426 1.9735 2.3562 2
107.0 2.3985 1.484 0.7854 2
108.0 2.3985 1.536 2.3562 2
109.0 1.374 2.9115 -0.7854 2
110.0 1.426 2.9115 0.7854 2
111.0 0.6715 4.429 -0.7854 2
112.0 0.6715 4.481 -2.3562 2
113.0 1.374 5.9985 -2.3562 2
114.0 1.426 5.9985 2.3562 2
115.0 1.5285 4.429 0.7854 2
116.0 1.5285 4.481 2.3562 2
117.0 1.374 -0.5215 -2.3562 2
118.0 1.426 -0.5215 2.3562 2
119.0 -1.2215 1.374 0.7854 2
120.0 -1.2215 1.426 2.3562 2
121.0 -1.2215 3.374 0.7854 2
122.0 -1.2215 3.426 2.3562 2
123.0 -1.2215 5.374 0.7854 2
124.0 -1.2215 5.426 2.3562 2
125.0 1.374 7.3215 -0.7854 2
126.0 1.426 7.3215 0.7854 2
127.0 3.8215 1.374 -0.7854 2
128.0 3.8215 1.426 -2.3562 2
129.0 3.8215 3.374 -0.7854 2
130.0 3.8215 3.426 -2.3562 2
131.0 3.8215 5.374 -0.7854 2
132.0 3.8215 5.426 -2.3562 2
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