Update launch files

launch/sim_localization_global.launch

@@ -10,7 +10,7 @@
   <arg name="world"                       default="empty"/>
   <arg name="gazebo_gui"                  default="True"/>
   <arg name="car_x"                       default="0.0"/>
-  <arg name="car_y"                       default="0.0"/>
+  <arg name="car_y"                       default="-0.22"/>
   <arg name="car_yaw"                     default="0.0"/>
 
   <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
@@ -47,6 +47,9 @@
     <arg name="global_planner"              value="global_planner"/>
     <arg name="odom_topic"                  value="/$(arg name)/local_odom_combined"/>
     <arg name="map_name"                    value="adc_map"/>
+    <arg name="initial_x"                   value="$(arg car_x)"/>
+    <arg name="initial_y"                   value="$(arg car_y)"/>
+    <arg name="initial_yaw"                 value="$(arg car_yaw)"/>
     <arg name="output"                      value="$(arg output)" />
     <arg name="launch_prefix"               value="$(arg launch_prefix)" />
     <arg name="opendrive_file_path"         default="$(find iri_adc_circuit_example)/data"/>

launch/sim_mapping.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name"                        default="model_car"/>
+  <arg name="circuit"                     default="sample"/>
+  <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"/>
+  <arg name="car_y"                       default="-0.22"/>
+  <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)"/>
+    <arg name="output"                     value="$(arg output)"/>
+    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+    <arg name="world"                      value="$(arg world)"/>
+    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
+    <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="$(find iri_model_car_odometry)/config/params.yaml"/>
+  </include>
+
+  <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+    <arg name="name" value="$(arg circuit)"/>
+  </include>
+
+  <include file="$(find iri_model_car_rosnav)/launch/nav_mapping.launch">
+    <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="global_planner"/>
+    <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
+    <arg name="resolution"              value="$(arg resolution)"/>
+    <arg name="output"                  value="$(arg output)" />
+    <arg name="launch_prefix"           value="$(arg launch_prefix)" />
+  </include>
+
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz">
+  </node>
+
+</launch>
+

launch/sim_navigation.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name"                        default="model_car"/>
+  <arg name="circuit"                     default="sample"/>
+  <arg name="map_name"                    default="$(arg circuit)005"/>
+  <arg name="output"                      default="screen"/>
+  <arg name="launch_prefix"               default=""/>
+
+  <arg name="world"                       default="empty"/>
+  <arg name="gazebo_gui"                  default="True"/>
+  <arg name="car_x"                       default="0.0"/>
+  <arg name="car_y"                       default="-0.22"/>
+  <arg name="car_yaw"                     default="0.0"/>
+
+  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
+    <arg name="name"                       value="$(arg name)"/>
+    <arg name="output"                     value="$(arg output)"/>
+    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+    <arg name="world"                      value="$(arg world)"/>
+    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
+    <arg name="car_x"                      value="$(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"/>
+  </include>
+
+  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
+    <arg name="local_ekf_yaml_filename"    value="local_ekf_odom_imu"/>
+    <arg name="global_loc"                 value="true"/>
+    <arg name="global_ekf_yaml_filename"   value="global_ekf_odom_imu_amcl"/>
+  </include>
+
+  <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+    <arg name="name" value="$(arg circuit)"/>
+  </include>
+
+  <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+    <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"/>
+    <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="$(arg map_name)"/>
+    <arg name="initial_x"                   value="$(arg car_x)"/>
+    <arg name="initial_y"                   value="$(arg car_y)"/>
+    <arg name="initial_yaw"                 value="$(arg car_yaw)"/>
+    <arg name="output"                      value="$(arg output)" />
+    <arg name="launch_prefix"               value="$(arg launch_prefix)" />
+    <arg name="opendrive_file_path"         default="$(find iri_adc_circuit_example)/data"/>
+    <arg name="opendrive_file_name"         default="$(arg circuit)"/>
+  </include>
+
+  <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
+    <arg name="name"                       value="$(arg name)"/>
+    <arg name="output"                     value="$(arg output)"/>
+    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+  </include>
+
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_adc_launch)/rviz/nav.rviz">
+  </node>
+
+</launch>

rviz/localization_global.rviz

@@ -13,7 +13,7 @@ Panels:
         - /Odometry1/(green)OdomCombinedLocal1/Shape1
         - /Nav1
       Splitter Ratio: 0.637188196182251
-    Tree Height: 705
+    Tree Height: 641
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -428,7 +428,7 @@ Visualization Manager:
               Color: 204; 51; 204
               Scale: 1
               Value: true
-            Value: true
+            Value: false
           Enabled: true
           Keep: 1
           Name: (red)OdomEncoders(1)
@@ -462,7 +462,7 @@ Visualization Manager:
               Color: 204; 51; 204
               Scale: 1
               Value: true
-            Value: true
+            Value: false
           Enabled: true
           Keep: 500
           Name: (red)OdomEncoders
@@ -741,35 +741,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 19.73822784423828
+      Distance: 33.3944091796875
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.9086316823959351
-        Y: 1.4886527061462402
-        Z: 0.3212772607803345
+        X: -6.919537544250488
+        Y: 2.382641077041626
+        Z: -2.4045217037200928
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.2353978157043457
+      Pitch: 1.500397801399231
       Target Frame: model_car/base_footprint
       Value: Orbit (rviz)
-      Yaw: 3.1503992080688477
+      Yaw: 3.130399227142334
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
   FrontImage:
     collapsed: false
-  Height: 936
+  Height: 872
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   RearImage:
     collapsed: false
   Selection:
@@ -780,6 +780,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1654
-  X: 153
+  Width: 1373
+  X: 67
   Y: 0