Commit 7dbdb75a authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

changed launchfiles to iliad convention, changed initialpose topic for mcl

parent da0369ff
......@@ -6,14 +6,16 @@
<arg name="publish_map" default="false" />
<!-- Absolute Path to map to be used for localization. The map needs to be built by graph_fuser package -->
<arg name="map_file_path" default="$(find graph_map)/maps/ndt_map.MAP" />
<arg name="robot_id" default="robot5" />
<arg name="robot_id" default="5" />
<arg name="rviz_enabled" default="false" />
<arg name="root_id" default="/map_laser2d" />
<arg name="robot_prefix" default="robot$(arg robot_id)" />
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="input_points_topic" value="$(arg robot_id)/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_id)/velodyne_points_unwarped2" />
<arg name="prefix" value="$(arg robot_prefix)" />
<arg name="input_points_topic" value="$(arg robot_prefix)/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_prefix)/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_prefix)/velodyne_link" />
</include>
<!-- Include visualization in rviz -->
......@@ -31,26 +33,23 @@
<param name="Velodyne" value="true" />
<param name="PointCloud" value="false" />
<param name="dataset" value="ncfm-2018" />
<!--param name="laser_tf" value="$(arg robot_id)/velodyne_correct" /-->
<param name="laser_tf" value="$(arg robot_id)/velodyne_link" />
<param name="publish_sensor_link" value="true" />
<param name="input_cloud_topic" value="$(arg robot_id)/velodyne_packets" />
<param name="pose_estimate_topic" value="$(arg robot_id)/mcl_pose_estimate" />
<param name="laser_tf" value="$(arg robot_prefix)/velodyne_link" />
<param name="publish_sensor_link" value="false" />
<param name="input_cloud_topic" value="$(arg robot_prefix)/velodyne_packets" />
<param name="pose_estimate_topic" value="$(arg robot_prefix)/mcl_pose_estimate" />
<!-- Topic of laser scanner -->
<param name="points_topic" value="/$(arg robot_id)/sensors/velodyne_packets" />
<param name="calibration" value="$(find graph_map)/config/VLP16db.yaml" />
<!-- pass path to graph_map (.map)-->
<param name="map_file" value="$(arg map_file_path)" />
<param name="sensor_pose_x" value="0.80875" />
<param name="sensor_pose_y" value="-0.0285" />
<param name="sensor_pose_x" value="0.808" />
<param name="sensor_pose_y" value="-0.03" />
<param name="sensor_pose_z" value="0.95" />
<param name="sensor_pose_r" value="0" />
<param name="sensor_pose_p" value="-0.15" />
<param name="sensor_pose_t" value="-0.0284" />
<param name="sensor_pose_t" value="-0.028" />>
<param name="gt_topic" value="/$(arg robot_id)/kmo_navserver/state" />
<param name="initial_pose_topic" value="/$(arg robot_id)/initialpose" />
<param name="gt_topic" value="/$(arg robot_prefix)/kmo_navserver/state" />
<param name="initial_pose_topic" value="/$(arg robot_prefix)/initialpose" />
<!-- Choose weather to initiate pose to pose_init_<x,y,t> or the data of /<gt_topic> -->
<param name="initPoseFromGT" value="false" />
......@@ -63,8 +62,8 @@
<param name="root_tf" value="$(arg root_id)" />
<!-- odometry frame id-->
<param name="odom_tf" value="$(arg robot_id)/odom" />
<param name="base_tf" value="$(arg robot_id)/base_footprint" />
<param name="odom_tf" value="$(arg robot_prefix)/odom" />
<param name="base_tf" value="$(arg robot_prefix)/base_footprint" />
<!--param name="mcl_tf" value="mcl_pose_est" /-->
......
......@@ -389,7 +389,7 @@ public:
else
std::cerr<<"No lidar Type sepected for topic \""<<input_cloud_topic<<"\""<<std::endl;
initPoseSub = nh.subscribe("/initialpose", 1000, &localisation_node::initialposeCallback, this);
initPoseSub = nh.subscribe(initial_pose_topic, 1000, &localisation_node::initialposeCallback, this);
if(init_pose_gt){
cout<<"Listen to GT at topic :"<<gt_topic<<endl;
......
......@@ -91,10 +91,10 @@
<param name="min_range" value="1.8" />
<!-- Specific sensor offset parameters with respect to the odometry frame -->
<param name="sensor_pose_x" value="0.807" />
<param name="sensor_pose_y" value="-0.003" />
<param name="sensor_pose_z" value="0.95" />
<param name="sensor_pose_t" value="0" />
<param name="sensor_pose_x" value="0.808" />
<param name="sensor_pose_y" value="-0.03" />
<param name="sensor_pose_z" value="0.95" />
<param name="sensor_pose_t" value="-0.028" />
<param name="sensor_offset_t" value="0.0" />
<!-- Output directory where the map is stored -->
......
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="run_bag" default="false"/>
<arg name="robot_id" default="robot5"/>
<arg name="robot_id" default="5"/>
<arg name="output_pointcloud_topic_name" default="/fused_cloud"/>
<arg name="rviz_enabled" default="false"/>
<arg name="robot_prefix" default="robot$(arg robot_id)"/>
<arg name="veloyne_points_link" default="/fuser_laser_link"/>
<group if="$(arg rviz_enabled)">
<!-- Include visualization in rviz -->
......@@ -15,10 +17,10 @@
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="input_points_topic" value="$(arg robot_id)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_id)/sensors/velodyne_points_unwarped" />
<arg name="link" value="/fuser_laser_link" />
<arg name="robot_prefix" default="$(arg robot_prefix)"/>
<arg name="input_points_topic" value="$(arg robot_prefix)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<arg name="link" value="$(arg veloyne_points_link)" />
</include>
<!-- start mapping node -->
......@@ -63,21 +65,21 @@
<!-- if laser_2d is true, a 2d scanner will be used for mapping-->
<param name="laser_2d" value="false" />
<param name="laser_frame_id" value="/fuser_laser_link" />
<param name="laser_frame_id" value="$(arg veloyne_points_link)" />
<param name="use_pointcloud" value="true" />
<!-- Topic of laser scanner -->
<!--param name="points_topic" value="$(arg namespace_prefix)/kmo_navserver/laserscan1" /-->
<param name="points_topic" value="$(arg robot_id)/sensors/velodyne_points_unwarped" />
<param name="points_topic" value="$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<param name="output_pointcloud_topic_name" value="$(arg output_pointcloud_topic_name)" />
<param name="useOdometry" value="true" />
<param name="odometry_topic" value="$(arg robot_id)/control/odom"/>
<param name="odometry_topic" value="$(arg robot_prefix)/control/odom"/>
<param name="use_tf_listener" value="true" />
<param name="gt_topic" value="$(arg robot_id)/control/state" />
<param name="gt_topic" value="$(arg robot_prefix)/control/state" />
<!-- odometry frame id-->
<param name="odom_tf" value="$(arg robot_id)/odom" />
<param name="base_tf" value="$(arg robot_id)/base_footprint" />
<param name="odom_tf" value="$(arg robot_prefix)/odom" />
<param name="base_tf" value="$(arg robot_prefix)/base_footprint" />
<!-- check if the registration pose output is similar to odometry prediction within max_translation_norm or max_rotation_norm -->
<param name="check_consistency" value="true" />
......
<?xml version="1.0"?>
<launch>
<arg name="robot_id" default="robot5" />
<arg name="input_points_topic" default="/$(arg robot_id)/sensors/velodyne_packets" />
<arg name="output_points_topic" default="/$(arg robot_id)/sensors/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_id)/velodyne_link" />
<arg name="robot_prefix" default="robot5" />
<arg name="input_points_topic" default="/$(arg robot_prefix)/sensors/velodyne_packets" />
<arg name="output_points_topic" default="/$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_prefix)/velodyne_link" />
<arg name="sensor_offset_topic" default="/sensor_default" />
<!-- Run monte carlo localization -->
......@@ -13,7 +13,7 @@
<!-- select one of the following types-->
<param name="disable_compensation" value="false" />
<param name="laser_tf" value="$(arg robot_id)/velodyne" />
<param name="laser_tf" value="$(arg robot_prefix)/velodyne" />
<!-- Topic of laser scanner -->
<param name="input_points_topic" value="$(arg input_points_topic)" />
......@@ -22,15 +22,13 @@
<param name="calibration" value="$(find graph_map)/config/VLP16db.yaml" />
<param name="sensor_offset_topic" value="$(arg sensor_offset_topic)" />
<param name="odom_parent_link" value="$(arg robot_id)/odom" />
<param name="odom_link" value="$(arg robot_id)/base_footprint" />
<param name="odom_parent_link" value="$(arg robot_prefix)/odom" />
<param name="odom_link" value="$(arg robot_prefix)/base_footprint" />
<!-- pass path to graph_map (.map)-->
<param name="sensor_pose_x" value="0.808" />
<param name="sensor_pose_y" value="-0.285" />
<param name="sensor_pose_z" value="0" />
<param name="sensor_pose_r" value="0" />
<param name="sensor_pose_p" value="0" />
<param name="sensor_pose_y" value="-0.03" />
<param name="sensor_pose_z" value="0.95" />
<param name="sensor_pose_t" value="-0.028" />
</node>
......
......@@ -397,25 +397,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 12.960433
Distance: 29.5302753
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.936794162
Y: 1.31010401
X: 0.957117796
Y: 2.73024654
Z: -1.57417089e-05
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.890398204
Pitch: 0.640398622
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz)
Yaw: 1.00539541
Yaw: 5.96357775
Saved:
- Class: rviz/Orbit
Distance: 39.1665726
......
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