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mobile_robotics
ADC
ADC_2021
iri_adc_launch
Commits
f60be41e
Commit
f60be41e
authored
Feb 04, 2021
by
Fernando Herrero
Browse files
Update launch files
parent
4c6ec3dd
Changes
5
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Side-by-side
launch/sim_localization_global.launch
View file @
f60be41e
...
...
@@ -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
0 → 100644
View file @
f60be41e
<?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 $(find iri_model_car_rosnav)/rviz/model_car_gmapping.rviz"
>
</node>
</launch>
launch/sim_navigation.launch
0 → 100644
View file @
f60be41e
<?xml version="1.0"?>
<!-- -->
<launch>
<arg
name=
"name"
default=
"model_car"
/>
<arg
name=
"circuit"
default=
"sample"
/>
<arg
name=
"map_name"
default=
"$(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
View file @
f60be41e
...
...
@@ -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:
tru
e
Value:
fals
e
Enabled: true
Keep: 1
Name: (red)OdomEncoders(1)
...
...
@@ -462,7 +462,7 @@ Visualization Manager:
Color: 204; 51; 204
Scale: 1
Value: true
Value:
tru
e
Value:
fals
e
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.
235
3978
157043457
Pitch: 1.
500
3978
01399231
Target Frame: model_car/base_footprint
Value: Orbit (rviz)
Yaw: 3.1
5
03992
080688477
Yaw: 3.1
3
03992
27142334
Saved: ~
Window Geometry:
Displays:
collapsed: false
FrontImage:
collapsed: false
Height:
936
Height:
872
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001
bb
000003
4
efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003
4
e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e00000000000000000000000100000185000003
4
efc020000000afb0000001400460072006f006e00740049006d006100670065010000003d000001
6f
0000001600fffffffb0000001200520065006100720049006d00610067006501000001
b2
000001
d9
0000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d00610067006501000003b2000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003ce0000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000
32a
000003
4
e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001
56
000003
0
efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003
0
e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e00000000000000000000000100000185000003
0
efc020000000afb0000001400460072006f006e00740049006d006100670065010000003d000001
53
0000001600fffffffb0000001200520065006100720049006d00610067006501000001
96
000001
b5
0000001600fffffffb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000030e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb000000220072006500610072005f00630061006d006500720061005f0049006d00610067006501000003b2000000160000000000000000fb0000002400660072006f006e0074005f00630061006d006500720061005f0049006d00610067006501000003ce0000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000
276
000003
0
e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RearImage:
collapsed: false
Selection:
...
...
@@ -780,6 +780,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1
654
X:
153
Width: 1
373
X:
67
Y: 0
rviz/nav.rviz
0 → 100644
View file @
f60be41e
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