diff --git a/launch/include/localization.launch b/launch/include/localization.launch
index e2d13f60839295d3cd4f75daa9f57fde7a9b1315..d2f1955ff6e794162d0ea48768fd725a1c7cc201 100644
--- a/launch/include/localization.launch
+++ b/launch/include/localization.launch
@@ -3,51 +3,16 @@
<launch>
<arg name="name" default="model_car"/>
- <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_local_ekf.yaml"/>
- <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/$(arg name)_global_ekf.yaml"/>
- <arg name="global_loc" default="false"/>
-
- <node pkg="imu_msg_fix"
- name="imu_msg_fix"
- ns="$(arg name)"
- type="imu_msg_fix"
- output="screen">
- <param name="fix_frame_id" value="false"/>
- <param name="frame_id" value=""/>
- <param name="fix_cov" value="false"/>
- <param name="cov_orientation" value="0.01"/>
- <param name="cov_vel" value="0.01"/>
- <param name="cov_acc" value="0.01"/>
- <param name="imu_reference" value="1"/><!-- 0->NED, 1->ENU -->
- <remap from="~imu_in" to="sensors/imu"/>
- <remap from="~imu_out" to="sensors/imu_enu"/>
-
- </node>
-
- <!-- combines odom+imu to generate odom_combined odometry -->
- <node pkg="robot_localization"
- type="ekf_localization_node"
- name="local_ekf"
- ns="$(arg name)"
- clear_params="true"
- output="screen">
- <rosparam command="load" file="$(arg local_ekf_config_file)" />
- <remap from="odometry/filtered" to="/$(arg name)/local_odom_combined"/>
- </node>
-
- <node pkg="tf"
- type="static_transform_publisher"
- name="map_transform" args="0 0 0 0 0 0 map model_car/odom 20"
- unless="$(arg global_loc)"/>
+ <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/global_ekf_odom_imu_amcl.yaml"/>
<node pkg="robot_localization"
type="ekf_localization_node"
name="global_ekf"
ns="$(arg name)"
clear_params="true"
- output="screen"
- if="$(arg global_loc)">
+ output="screen">
<rosparam command="load" file="$(arg global_ekf_config_file)" />
<remap from="odometry/filtered" to="/$(arg name)/global_odom_combined"/>
</node>
+
</launch>
diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index a23c6fe17ef1dfa6c3b0a21671e7544e39eb7ec1..32a9398978b03def0a9ec3853e4cc722a81e9283 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -14,8 +14,7 @@
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
- <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
- <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/global_ekf_odom_imu_amcl.yaml"/>
+ <arg name="global_ekf_config_file" default="$(find iri_model_car_rosnav)/params/global_ekf_odom_imu_amcl.yaml"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
@@ -51,9 +50,7 @@
<include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
<arg name="name" value="$(arg name)"/>
- <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/>
<arg name="global_ekf_config_file" value="$(arg global_ekf_config_file)"/>
- <arg name="global_loc" value="true"/>
</include>
<param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index b476138061d875541b0318bcd685fb530fb916a7..2f80a6d6fa161f3c6a279801ffcdcbd99d1c661f 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -11,7 +11,6 @@
<arg name="resolution" default="0.05"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
- <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
@@ -43,12 +42,6 @@
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
- <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
- <arg name="name" value="$(arg name)"/>
- <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/>
- <arg name="global_loc" value="false"/>
- </include>
-
<param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
</launch>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index 8a880a54643bf87551f4f28a38e55d6c9d129144..41ab665e9af95ea91b594fc6f230483cca0cf559 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -9,7 +9,6 @@
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
- <arg name="local_ekf_config_file" default="$(find iri_model_car_rosnav)/params/local_ekf_odom_imu.yaml"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
@@ -38,11 +37,9 @@
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
- <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
- <arg name="name" value="$(arg name)"/>
- <arg name="local_ekf_config_file" value="$(arg local_ekf_config_file)"/>
- <arg name="global_loc" value="false"/>
- </include>
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="map_transform" args="0 0 0 0 0 0 map $(arg name)/odom 20"/>
<param name="/$(arg name)/move_base/SBPLLatticePlanner/primitive_filename" value="$(find iri_model_car_rosnav)/model_car.mprim" />
diff --git a/params/local_ekf_odom_imu.yaml b/params/local_ekf_odom_imu.yaml
deleted file mode 100644
index 4821068942aa97ba957c0d6e9bbee398a943f04a..0000000000000000000000000000000000000000
--- a/params/local_ekf_odom_imu.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-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: model_car/odom
-base_link_frame: model_car/base_footprint
-world_frame: model_car/odom
-
-odom0: /model_car/odom
-odom0_config: [false, false, false,
- false, false, false,
- true, true, false,
- false, false, true,
- false, false, false]
-
-imu0: /model_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/rviz/model_car_map_ekf.rviz b/rviz/model_car_map_ekf.rviz
index f1336196a03b1d5701db0a57e1198b8a83b0754c..83e2e57798e5cf9d537d4221478c2354dcbd2956 100644
--- a/rviz/model_car_map_ekf.rviz
+++ b/rviz/model_car_map_ekf.rviz
@@ -8,6 +8,7 @@ Panels:
- /Sensors1
- /Sensors1/GroundTruthOdometry1/Shape1
- /Sensors1/Odometry1/Shape1
+ - /Sensors1/RP_Lidar1
- /global_planner1/global_plan1/Status1
Splitter Ratio: 0.625
Tree Height: 794
@@ -385,15 +386,15 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
- Color: 255; 255; 255
- Color Transformer: Intensity
+ Color: 255; 25; 0
+ Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 0
+ Max Color: 255; 25; 0
+ Max Intensity: -999999
Min Color: 0; 0; 0
- Min Intensity: 0
+ Min Intensity: 999999
Name: RP_Lidar
Position Transformer: XYZ
Queue Size: 10
@@ -551,16 +552,16 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 11.253925323486328
+ Distance: 18.180187225341797
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 3.3934614658355713
- Y: 0.5182212591171265
- Z: 0.33107441663742065
+ X: 3.496770143508911
+ Y: 2.299980401992798
+ Z: 0.33115777373313904
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false