diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 000000000..30faaaeab --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,15 @@ +## PRの種類 + +- [ ] 新機能 +- [ ] 既存機能の性能向上 +- [ ] バグフィックス + +## Jiraリンク + +## 変更概要 + +## レビュー方法 + +## その他 + +- [ ] [リリースノート](https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416)への記載 diff --git a/README.md b/README.md new file mode 100644 index 000000000..a895a99a5 --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +# autoware_launcher +launch files for autoware diff --git a/autoware_launch/CMakeLists.txt b/autoware_launch/CMakeLists.txt new file mode 100644 index 000000000..87cc71d21 --- /dev/null +++ b/autoware_launch/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(autoware_launch) + +find_package(catkin REQUIRED COMPONENTS + vehicle_launch + perception_launch + sensing_launch +) + +catkin_package() + +install( + DIRECTORY + launch + rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autoware_launch/launch/autoware.launch b/autoware_launch/launch/autoware.launch new file mode 100644 index 000000000..04b4031da --- /dev/null +++ b/autoware_launch/launch/autoware.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/planning_simulator.launch b/autoware_launch/launch/planning_simulator.launch new file mode 100644 index 000000000..daa7844ba --- /dev/null +++ b/autoware_launch/launch/planning_simulator.launch @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml new file mode 100644 index 000000000..0e2c841c6 --- /dev/null +++ b/autoware_launch/package.xml @@ -0,0 +1,29 @@ + + + autoware_launch + 0.1.0 + The autoware_launch package + + Yukihiro Saito + Apache 2 + + catkin + vehicle_launch + perception_launch + sensing_launch + vehicle_launch + perception_launch + sensing_launch + + rosbridge_server + python-tornado + python3-tornado + python-bson + python3-bson + + + + + + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz new file mode 100644 index 000000000..6f95da8ae --- /dev/null +++ b/autoware_launch/rviz/autoware.rviz @@ -0,0 +1,1032 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Sensing1/GNSS1/PoseWithCovariance1/Covariance1/Position1 + - /Localization1/NDT1/PoseHistory1/Line1 + - /Localization1/NDT1/MonteCarloInitialPose1/Namespaces1 + - /Localization1/EKF1/PoseHistory1/Line1 + - /Planning1/ScenarioPlanning1 + - /Control1/Debug/MPC1/Namespaces1 + Splitter Ratio: 0.557669460773468 + Tree Height: 435 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /2D Dummy Pedestrian1 + - /2D Dummy Car1 + - /2D Checkpoint Pose1 + - /Delete All Objects1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloudMap + - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + Name: InitialPoseButtonPanel + - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + Name: InitialPoseButtonPanel +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz/Group + Displays: + - Class: rviz_plugins/SteeringAngle + Enabled: true + Left: 128 + Length: 256 + Name: SteeringAngle + Scale: 17 + Text Color: 25; 255; 240 + Top: 128 + Topic: /vehicle/status/steering + Unreliable: false + Value: true + Value height offset: 0 + - Class: rviz_plugins/ConsoleMeter + Enabled: true + Left: 512 + Length: 256 + Name: ConsoleMeter + Scale: 3 + Text Color: 25; 255; 240 + Top: 128 + Topic: /vehicle/status/twist + Unreliable: false + Value: true + Value height offset: 0 + - Alpha: 1 + Class: rviz_plugins/VelocityHistory + Color Border Vel Max: 3 + Constant Color: + Color: 255; 255; 255 + Value: true + Enabled: true + Name: VelocityHistory + Scale: 0.30000001192092896 + Timeout: 10 + Topic: /vehicle/status/twist + Unreliable: false + Value: true + - Alpha: 0.30000001192092896 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: VehicleModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 1 + Max Range: 100 + Max Wave Alpha: 1 + Min Alpha: 0.20000000298023224 + Min Wave Alpha: 0.20000000298023224 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: rviz_plugins/TurnSignal + Enabled: true + Height: 256 + Left: 196 + Name: TurnSignal + Top: 350 + Topic: /vehicle/turn_signal_cmd + Unreliable: false + Value: true + Width: 512 + Enabled: true + Name: Vehicle + Enabled: true + Name: System + - Class: rviz/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 1 + Size (m): 0.05000000074505806 + Style: Points + Topic: /map/pointcloud_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /map/vector_map_marker + Name: Lanelet2VectorMap + Namespaces: + center_lane_line: true + crosswalk_lanelets: true + lanelet direction: true + left_lane_bound: true + parking_lots: true + parking_space: true + right_lane_bound: true + road_lanelets: false + stop_lines: true + traffic_light: true + traffic_light_triangle: true + Queue Size: 100 + Value: true + Enabled: true + Name: Map + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 30 + Min Value: -2 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: /sensing/lidar/concatenated/pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz/PointCloud2 + Color: 0; 240; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 10 + Size (m): 0.009999999776482582 + Style: Points + Topic: /sensing/lidar/no_ground/pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MesurementRange + Topic: /sensing/lidar/crop_box_filter/crop_box_polygon + Unreliable: false + Value: false + Enabled: true + Name: LiDAR + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: /sensing/gnss/pose_with_covariance + Unreliable: false + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: /localization/pose_estimator/initial_pose_with_covariance + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: /localization/pose_estimator/pose_with_covariance + Unreliable: false + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: /localization/pose_estimator/pose + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 0; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 10 + Size (m): 0.009999999776482582 + Style: Points + Topic: /localization/util/downsample/pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 10 + Size (m): 0.009999999776482582 + Style: Points + Topic: /localization/pose_estimator/points_aligned + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /localization/pose_estimator/monte_carlo_initial_pose_marker + Name: MonteCarloInitialPose + Namespaces: {} + Queue Size: 1 + Value: true + Enabled: true + Name: NDT + - Class: rviz/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/object_recognition/detection/objects/visualization + Name: DynamicObjects + Namespaces: {} + Queue Size: 100 + Value: true + Enabled: false + Name: Detection + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/object_recognition/tracking/objects/visualization + Name: DynamicObjects + Namespaces: {} + Queue Size: 100 + Value: true + Enabled: false + Name: Tracking + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/object_recognition/objects/visualization + Name: DynamicObjects + Namespaces: + label: true + path: true + path confidence: true + shape: true + twist: true + Queue Size: 100 + Value: true + Enabled: true + Name: Prediction + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /perception/traffic_light_recognition/debug/rois + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Name: Beam + Namespaces: {} + Queue Size: 100 + Value: true + Enabled: true + Name: TrafficLight + Enabled: true + Name: Perception + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/mission_planning/route_marker + Name: RouteArea + Namespaces: + goal_lanelets: true + left_lane_bound: true + right_lane_bound: true + route_lanelets: true + Queue Size: 100 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: /planning/mission_planning/goal + Unreliable: false + Value: true + Enabled: true + Name: MissionPlanning + - Class: rviz/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + Topic: /planning/scenario_planning/trajectory + Unreliable: false + Value: true + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: /planning/scenario_planning/lane_driving/behavior_planning/path + Unreliable: false + Value: true + View Path: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Name: Arrow + Namespaces: {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Name: Crosswalk + Namespaces: {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Name: Intersection + Namespaces: + conflicting_targets: true + detection_area: false + ego_lane: false + factor_text: true + judge_point_pose_line: true + path_raw: false + spline: false + stop_point_pose_line: false + stop_virtual_wall: true + stuck_vehicle_detect_area: false + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Name: Blind Spot + Namespaces: + conflict_area_for_blind_spot: false + conflicting_targets: true + detection_area: false + detection_area_for_blind_spot: false + factor_text: true + judge_point_pose_line: true + path_raw: false + stop_virtual_wall: true + spline: false + stop_point_pose_line: false + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Name: TrafficLight + Namespaces: {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Name: StopLine + Namespaces: + factor_text: true + stop_virtual_wall: true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Name: DetectionArea + Namespaces: + factor_text: true + stop_virtual_wall: true + Queue Size: 100 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: LaneChangeCandidate + Topic: /planning/scenario_planning/lane_driving/lane_change_candidate_path + Unreliable: false + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: true + Value: true + Width: 2 + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: true + Scale: 0.30000001192092896 + Value: false + Enabled: true + Name: BehaviorPlanning + - Class: rviz/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + Topic: /planning/scenario_planning/lane_driving/trajectory + Unreliable: false + Value: false + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Name: ObstaclePointCloudStop + Namespaces: + collision_polygons: true + detection_polygons: true + factor_text: true + stop_virtual_wall: true + stop_obstacle_point: true + stop_obstacle_text: true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Name: SurroundObstacleCheck + Namespaces: + factor_text: true + virtual_wall: true + obstacle_point: true + no_start_obstacle_text: true + Queue Size: 100 + Value: true + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + Topic: /planning/scenario_planning/parking/costmap_generator/occupancy_grid + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.05000000074505806 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + Topic: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + Topic: /planning/scenario_planning/parking/freespace_planner/debug/pose_array + Unreliable: false + Value: true + Enabled: true + Name: Parking + Enabled: true + Name: ScenarioPlanning + Enabled: true + Name: Planning + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /control/mpc_follower/debug/markers + Name: Debug/MPC + Namespaces: {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /control/pure_pursuit/debug/marker + Name: Debug/PurePursuit + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Control + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: viewer + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /planning/mission_planning/goal + - Class: rviz/PedestrianInitialPoseTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Theta std deviation: 0.0872664600610733 + Velocity: 1 + X std deviation: 0.009999999776482582 + Y std deviation: 0.009999999776482582 + Z position: 0 + Z std deviation: 0.009999999776482582 + - Class: rviz/CarInitialPoseTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Theta std deviation: 0.0872664600610733 + Velocity: 3 + X std deviation: 0.009999999776482582 + Y std deviation: 0.009999999776482582 + Z position: 0 + Z std deviation: 0.009999999776482582 + - Class: rviz/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1565 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + InitialPoseButtonPanel: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000033c00000563fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001f0000000c900fffffffb0000000a005600690065007700730100000233000000f2000000a400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000032b000000a10000005c00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000682000000eb0000000000000000fb0000000a0049006d00610067006501000003d2000001ce0000001600fffffffb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de0000007700fffffffb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de0000007700ffffff000000010000015f000006fffc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000afd0000005afc0100000002fb0000000800540069006d0065010000000000000afd000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007bb0000056300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2813 + X: 67 + Y: 27 diff --git a/control_launch/CMakeLists.txt b/control_launch/CMakeLists.txt new file mode 100644 index 000000000..e469a1831 --- /dev/null +++ b/control_launch/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(control_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + config + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/control_launch/config/mpc_follower/mpc_follower_param.yaml b/control_launch/config/mpc_follower/mpc_follower_param.yaml new file mode 100644 index 000000000..cb55f9242 --- /dev/null +++ b/control_launch/config/mpc_follower/mpc_follower_param.yaml @@ -0,0 +1,40 @@ + + +# -- system -- +ctrl_period: 0.03 # control period [s] +traj_resample_dist: 0.1 # path resampling interval [m] +enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling +admisible_position_error: 5.0 # stop mpc calculation when error is larger than the following value +admisible_yaw_error_: 1.57 # stop mpc calculation when error is larger than the following value + +# -- path smoothing -- +enable_path_smoothing: false # flag for path smoothing +path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing +curvature_smoothing_num: 15 # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num) + +# -- mpc optimization -- +qpoases_max_iter: 500 # max iteration number for quadratic programming +qp_solver_type: "osqp" # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp +mpc_prediction_horizon: 50 # prediction horizon step +mpc_prediction_dt: 0.1 # prediction horizon period [s] +mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q +mpc_weight_heading_error: 0.0 # heading error weight in matrix Q +mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q +mpc_weight_steering_input: 1.0 # steering error weight in matrix R +mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R +mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R +mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R +mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R +mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability +mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability +mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero + +# -- vehicle model -- +vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics +input_delay: 0.24 # steering input delay time for delay compensation +vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approzimation) [s] +steer_lim_deg: 40.0 # steering angle limit [deg] +steer_rate_lim_deg: 600.0 # steering angle rate limit [deg/s] + +# -- lowpass filter for noise reduction -- +steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz] diff --git a/control_launch/config/pure_pursuit/pure_pursuit_param.yaml b/control_launch/config/pure_pursuit/pure_pursuit_param.yaml new file mode 100644 index 000000000..9d38aefc3 --- /dev/null +++ b/control_launch/config/pure_pursuit/pure_pursuit_param.yaml @@ -0,0 +1,7 @@ +# -- system -- +control_period: 0.033 + +# --algorithm +lookahead_distance_ratio: 2.2 +min_lookahead_distance: 2.5 +reverse_min_lookahead_distance: 7.0 diff --git a/control_launch/launch/control.launch b/control_launch/launch/control.launch new file mode 100644 index 000000000..c2ee293fa --- /dev/null +++ b/control_launch/launch/control.launch @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/control_launch/package.xml b/control_launch/package.xml new file mode 100644 index 000000000..c2f915721 --- /dev/null +++ b/control_launch/package.xml @@ -0,0 +1,22 @@ + + + control_launch + 0.1.0 + The control_launch package + + + + + Takamasa Horibe + + + + + + TODO + + catkin + + + + diff --git a/localization_launch/CMakeLists.txt b/localization_launch/CMakeLists.txt new file mode 100644 index 000000000..047892fac --- /dev/null +++ b/localization_launch/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(localization_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/localization_launch/launch/localization.launch b/localization_launch/launch/localization.launch new file mode 100644 index 000000000..1543c9262 --- /dev/null +++ b/localization_launch/launch/localization.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch b/localization_launch/launch/pose_estimator/pose_estimator.launch new file mode 100644 index 000000000..f70e6d314 --- /dev/null +++ b/localization_launch/launch/pose_estimator/pose_estimator.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch new file mode 100644 index 000000000..76310afb0 --- /dev/null +++ b/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization_launch/launch/twist_estimator/twist_estimator.launch b/localization_launch/launch/twist_estimator/twist_estimator.launch new file mode 100644 index 000000000..da8198ef7 --- /dev/null +++ b/localization_launch/launch/twist_estimator/twist_estimator.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/localization_launch/launch/util/util.launch b/localization_launch/launch/util/util.launch new file mode 100644 index 000000000..a0558ce96 --- /dev/null +++ b/localization_launch/launch/util/util.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False + + + + + + + + + + + + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 + + + + diff --git a/localization_launch/package.xml b/localization_launch/package.xml new file mode 100644 index 000000000..48230f21c --- /dev/null +++ b/localization_launch/package.xml @@ -0,0 +1,58 @@ + + + localization_launch + 0.1.0 + The localization_launch package + + + + + Yamato Ando + + + + + + Apache 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + diff --git a/map_launch/CMakeLists.txt b/map_launch/CMakeLists.txt new file mode 100644 index 000000000..c318300cf --- /dev/null +++ b/map_launch/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(map_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +include_directories() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/map_launch/launch/map.launch b/map_launch/launch/map.launch new file mode 100644 index 000000000..efa73f802 --- /dev/null +++ b/map_launch/launch/map.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/map_launch/package.xml b/map_launch/package.xml new file mode 100644 index 000000000..df7aacd22 --- /dev/null +++ b/map_launch/package.xml @@ -0,0 +1,59 @@ + + + map_launch + 0.1.0 + The map_launch package + + + + + mitsudome-r + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/perception_launch/CMakeLists.txt b/perception_launch/CMakeLists.txt new file mode 100644 index 000000000..3617fa63d --- /dev/null +++ b/perception_launch/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(perception_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch new file mode 100644 index 000000000..b35bc1396 --- /dev/null +++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception_launch/launch/object_recognition/detection/detection.launch b/perception_launch/launch/object_recognition/detection/detection.launch new file mode 100644 index 000000000..f72fa95b3 --- /dev/null +++ b/perception_launch/launch/object_recognition/detection/detection.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch new file mode 100644 index 000000000..6fe87c5e6 --- /dev/null +++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch b/perception_launch/launch/object_recognition/prediction/prediction.launch new file mode 100644 index 000000000..efd2535b2 --- /dev/null +++ b/perception_launch/launch/object_recognition/prediction/prediction.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch b/perception_launch/launch/object_recognition/tracking/tracking.launch new file mode 100644 index 000000000..a2fc3947b --- /dev/null +++ b/perception_launch/launch/object_recognition/tracking/tracking.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/perception_launch/launch/perception.launch b/perception_launch/launch/perception.launch new file mode 100644 index 000000000..ee29ebf67 --- /dev/null +++ b/perception_launch/launch/perception.launch @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception_launch/launch/traffic_light_recognition/traffic_light.launch b/perception_launch/launch/traffic_light_recognition/traffic_light.launch new file mode 100644 index 000000000..8f16904c1 --- /dev/null +++ b/perception_launch/launch/traffic_light_recognition/traffic_light.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception_launch/package.xml b/perception_launch/package.xml new file mode 100644 index 000000000..458e108e1 --- /dev/null +++ b/perception_launch/package.xml @@ -0,0 +1,27 @@ + + + perception_launch + 0.1.0 + The perception_launch package + + Yukihiro Saito + Apache2 + + + catkin + dynamic_object_visualization + euclidean_cluster + pointcloud_to_laserscan + shape_estimation + dynamic_object_visualization + euclidean_cluster + pointcloud_to_laserscan + shape_estimation + dynamic_object_visualization + euclidean_cluster + pointcloud_to_laserscan + shape_estimation + + + + diff --git a/planning_launch/CMakeLists.txt b/planning_launch/CMakeLists.txt new file mode 100644 index 000000000..65406d789 --- /dev/null +++ b/planning_launch/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(planning_launch) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.yaml b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.yaml new file mode 100644 index 000000000..c32486719 --- /dev/null +++ b/planning_launch/config/scenario_planning/common/motion_velocity_optimizer/motion_velocity_optimizer.yaml @@ -0,0 +1,36 @@ +max_velocity: 20.0 # max velocity limit [m/s] +max_accel: 1.0 # max acceleration limit [m/ss] +min_decel: -1.0 # min deceleration limit [m/ss] + +# curve parameters +max_lateral_accel: 0.5 # max lateral acceleration limit [m/ss] +min_curve_velocity: 2.74 # min velocity at lateral acceleration limit [m/ss] +decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit +decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit + +# engage & replan parameters +replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] +engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) +engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) +engage_exit_ratio: 0.5 # exit engage sequence to normal velocity plannning when the velocity exceeds engage_exit_ratio x engage_velocity. +stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] + +extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] +extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] +delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajecotory pose [radian] + +max_trajectory_length: 200.0 # max trajectory length for resampling [m] +min_trajectory_length: 30.0 # min trajectory length for resampling [m] +resample_time: 10.0 # resample total time [s] +resample_dt: 0.1 # resample time interval [s] +min_trajectory_interval_distance: 0.1 # resample points-interval length [m] + +# default weights +# L2: jerk = 100.0, v_weight = 100000.0, a_weight = 1000.0 +# Linf: jerk = 200.0, v_weight = 100000.0, a_weight = 5000.0 + +pseudo_jerk_weight: 100.0 # weight for "smoothness" cost +over_v_weight: 100000.0 # weight for "overspeed limit" cost +over_a_weight: 1000.0 # weight for "overaccel limit" cost + +algorithm_type: "L2" # Option : L2, Linf \ No newline at end of file diff --git a/planning_launch/launch/mission_planning/mission_planning.launch b/planning_launch/launch/mission_planning/mission_planning.launch new file mode 100644 index 000000000..d1e94f15c --- /dev/null +++ b/planning_launch/launch/mission_planning/mission_planning.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/planning.launch b/planning_launch/launch/planning.launch new file mode 100644 index 000000000..d8d6dd9a1 --- /dev/null +++ b/planning_launch/launch/planning.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving.launch b/planning_launch/launch/scenario_planning/lane_driving.launch new file mode 100644 index 000000000..27fa088c4 --- /dev/null +++ b/planning_launch/launch/scenario_planning/lane_driving.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch new file mode 100644 index 000000000..cc0e35f6b --- /dev/null +++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch new file mode 100644 index 000000000..8ae766945 --- /dev/null +++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/scenario_planning/parking.launch b/planning_launch/launch/scenario_planning/parking.launch new file mode 100644 index 000000000..0198eb09d --- /dev/null +++ b/planning_launch/launch/scenario_planning/parking.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch b/planning_launch/launch/scenario_planning/scenario_planning.launch new file mode 100644 index 000000000..c4d21f910 --- /dev/null +++ b/planning_launch/launch/scenario_planning/scenario_planning.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning_launch/package.xml b/planning_launch/package.xml new file mode 100644 index 000000000..24d7f88c6 --- /dev/null +++ b/planning_launch/package.xml @@ -0,0 +1,59 @@ + + + planning_launch + 0.1.0 + The planning_launch package + + + + + tier4 + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/sensing_launch/CMakeLists.txt b/sensing_launch/CMakeLists.txt new file mode 100644 index 000000000..ab708b8c4 --- /dev/null +++ b/sensing_launch/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sensing_launch) + +find_package(catkin REQUIRED) + +# Force Tier IV's fork version +find_package(velodyne_pointcloud 0.1.0 EXACT REQUIRED) +find_package(velodyne_vls_pointcloud 0.1.0 EXACT REQUIRED) + +catkin_package() + +install( + DIRECTORY + launch + data + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/sensing_launch/data/traffic_light_camera.yaml b/sensing_launch/data/traffic_light_camera.yaml new file mode 100644 index 000000000..a4c99fae9 --- /dev/null +++ b/sensing_launch/data/traffic_light_camera.yaml @@ -0,0 +1,20 @@ +image_width: 1920 +image_height: 1080 +camera_name: traffic_light/camera +camera_matrix: + rows: 3 + cols: 3 + data: [2410.755261, 0.000000, 922.621401, 0.000000, 2403.573140, 534.752500, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [2370.254883, 0.000000, 920.136018, 0.000000, 0.000000, 2388.885254, 535.599668, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] \ No newline at end of file diff --git a/sensing_launch/launch/aip_customized/camera.launch b/sensing_launch/launch/aip_customized/camera.launch new file mode 100644 index 000000000..c9e5fa4f2 --- /dev/null +++ b/sensing_launch/launch/aip_customized/camera.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_customized/gnss.launch b/sensing_launch/launch/aip_customized/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_customized/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_customized/imu.launch b/sensing_launch/launch/aip_customized/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_customized/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_customized/lidar.launch b/sensing_launch/launch/aip_customized/lidar.launch new file mode 100644 index 000000000..0d8fdb308 --- /dev/null +++ b/sensing_launch/launch/aip_customized/lidar.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_s1/camera.launch b/sensing_launch/launch/aip_s1/camera.launch new file mode 100644 index 000000000..c9e5fa4f2 --- /dev/null +++ b/sensing_launch/launch/aip_s1/camera.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_s1/gnss.launch b/sensing_launch/launch/aip_s1/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_s1/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_s1/imu.launch b/sensing_launch/launch/aip_s1/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_s1/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_s1/lidar.launch b/sensing_launch/launch/aip_s1/lidar.launch new file mode 100644 index 000000000..0d8fdb308 --- /dev/null +++ b/sensing_launch/launch/aip_s1/lidar.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x1/camera.launch b/sensing_launch/launch/aip_x1/camera.launch new file mode 100644 index 000000000..c9e5fa4f2 --- /dev/null +++ b/sensing_launch/launch/aip_x1/camera.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x1/gnss.launch b/sensing_launch/launch/aip_x1/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_x1/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x1/imu.launch b/sensing_launch/launch/aip_x1/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_x1/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x1/lidar.launch b/sensing_launch/launch/aip_x1/lidar.launch new file mode 100644 index 000000000..0d8fdb308 --- /dev/null +++ b/sensing_launch/launch/aip_x1/lidar.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x2/camera.launch b/sensing_launch/launch/aip_x2/camera.launch new file mode 100644 index 000000000..c9e5fa4f2 --- /dev/null +++ b/sensing_launch/launch/aip_x2/camera.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x2/gnss.launch b/sensing_launch/launch/aip_x2/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_x2/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x2/imu.launch b/sensing_launch/launch/aip_x2/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_x2/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_x2/lidar.launch b/sensing_launch/launch/aip_x2/lidar.launch new file mode 100644 index 000000000..0d8fdb308 --- /dev/null +++ b/sensing_launch/launch/aip_x2/lidar.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx1/camera.launch b/sensing_launch/launch/aip_xx1/camera.launch new file mode 100644 index 000000000..0eb3b6b0a --- /dev/null +++ b/sensing_launch/launch/aip_xx1/camera.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx1/gnss.launch b/sensing_launch/launch/aip_xx1/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_xx1/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx1/imu.launch b/sensing_launch/launch/aip_xx1/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_xx1/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx1/lidar.launch b/sensing_launch/launch/aip_xx1/lidar.launch new file mode 100644 index 000000000..d57589039 --- /dev/null +++ b/sensing_launch/launch/aip_xx1/lidar.launch @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud, + /sensing/lidar/rear/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx2/camera.launch b/sensing_launch/launch/aip_xx2/camera.launch new file mode 100644 index 000000000..c9e5fa4f2 --- /dev/null +++ b/sensing_launch/launch/aip_xx2/camera.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx2/gnss.launch b/sensing_launch/launch/aip_xx2/gnss.launch new file mode 100644 index 000000000..51b386c05 --- /dev/null +++ b/sensing_launch/launch/aip_xx2/gnss.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx2/imu.launch b/sensing_launch/launch/aip_xx2/imu.launch new file mode 100644 index 000000000..b55a51ea8 --- /dev/null +++ b/sensing_launch/launch/aip_xx2/imu.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/aip_xx2/lidar.launch b/sensing_launch/launch/aip_xx2/lidar.launch new file mode 100644 index 000000000..0d8fdb308 --- /dev/null +++ b/sensing_launch/launch/aip_xx2/lidar.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/sensing/lidar/top/outlier_filtered/pointcloud, + /sensing/lidar/left/outlier_filtered/pointcloud, + /sensing/lidar/right/outlier_filtered/pointcloud] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/livox_horizon.launch b/sensing_launch/launch/livox_horizon.launch new file mode 100644 index 000000000..aeb1f4431 --- /dev/null +++ b/sensing_launch/launch/livox_horizon.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/sensing.launch b/sensing_launch/launch/sensing.launch new file mode 100644 index 000000000..019af2369 --- /dev/null +++ b/sensing_launch/launch/sensing.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/velodyne_VLP16.launch b/sensing_launch/launch/velodyne_VLP16.launch new file mode 100644 index 000000000..279c04631 --- /dev/null +++ b/sensing_launch/launch/velodyne_VLP16.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/velodyne_VLP32C.launch b/sensing_launch/launch/velodyne_VLP32C.launch new file mode 100644 index 000000000..13ce69c6a --- /dev/null +++ b/sensing_launch/launch/velodyne_VLP32C.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/launch/velodyne_VLS128.launch b/sensing_launch/launch/velodyne_VLS128.launch new file mode 100644 index 000000000..b2833f119 --- /dev/null +++ b/sensing_launch/launch/velodyne_VLS128.launch @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sensing_launch/package.xml b/sensing_launch/package.xml new file mode 100644 index 000000000..4a87ff366 --- /dev/null +++ b/sensing_launch/package.xml @@ -0,0 +1,17 @@ + + + sensing_launch + 0.1.0 + The sensing_launch package + + Yukihiro Saito + Apache2 + + catkin + + velodyne_pointcloud + velodyne_vls_pointcloud + + + + diff --git a/system_launch/CMakeLists.txt b/system_launch/CMakeLists.txt new file mode 100644 index 000000000..2519b3e2f --- /dev/null +++ b/system_launch/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(system_launch) + +find_package(catkin REQUIRED COMPONENTS +) + +catkin_package() + +install( + DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/system_launch/launch/system.launch b/system_launch/launch/system.launch new file mode 100644 index 000000000..b30703b4f --- /dev/null +++ b/system_launch/launch/system.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/system_launch/package.xml b/system_launch/package.xml new file mode 100644 index 000000000..7f5f70ae0 --- /dev/null +++ b/system_launch/package.xml @@ -0,0 +1,14 @@ + + + system_launch + 0.1.0 + The system_launch package + + Kenji Miyake + Apache 2 + + catkin + + + + diff --git a/vehicle_launch/CMakeLists.txt b/vehicle_launch/CMakeLists.txt new file mode 100644 index 000000000..331b62f49 --- /dev/null +++ b/vehicle_launch/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(vehicle_launch) + +add_compile_options(-std=c++14) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY + launch + config + urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/vehicle_launch/config/aip_customized/sensors_calibration.yaml b/vehicle_launch/config/aip_customized/sensors_calibration.yaml new file mode 100644 index 000000000..e69de29bb diff --git a/vehicle_launch/config/aip_s1/sensors_calibration.yaml b/vehicle_launch/config/aip_s1/sensors_calibration.yaml new file mode 100644 index 000000000..e69de29bb diff --git a/vehicle_launch/config/aip_x1/sensors_calibration.yaml b/vehicle_launch/config/aip_x1/sensors_calibration.yaml new file mode 100644 index 000000000..e69de29bb diff --git a/vehicle_launch/config/aip_x2/sensors_calibration.yaml b/vehicle_launch/config/aip_x2/sensors_calibration.yaml new file mode 100644 index 000000000..e69de29bb diff --git a/vehicle_launch/config/aip_xx1/sensor_kit_calibration.yaml b/vehicle_launch/config/aip_xx1/sensor_kit_calibration.yaml new file mode 100644 index 000000000..d9d1f599e --- /dev/null +++ b/vehicle_launch/config/aip_xx1/sensor_kit_calibration.yaml @@ -0,0 +1,91 @@ +sensor_kit_base_link2camera0: + x: 0.10731 + y: 0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.315 + yaw: 1.035 +sensor_kit_base_link2camera1: + x: -0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.32 + yaw: -2.12 +sensor_kit_base_link2camera2: + x: 0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.00 + pitch: 0.335 + yaw: -1.04 +sensor_kit_base_link2camera3: + x: -0.10731 + y: 0.56343 + z: -0.27697 + roll: 0.0 + pitch: 0.325 + yaw: 2.0943951 +sensor_kit_base_link2camera4: + x: 0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.03 + yaw: -0.005 +sensor_kit_base_link2camera5: + x: -0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.01 + yaw: 3.125 +sensor_kit_base_link2traffic_light_right_camera: + x: 0.05 + y: -0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2traffic_light_left_camera: + x: 0.05 + y: 0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2velodyne_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 1.575 +sensor_kit_base_link2velodyne_left_base_link: + x: 0.0 + y: 0.56362 + z: -0.30555 + roll: -0.02 + pitch: 0.71 + yaw: 1.575 +sensor_kit_base_link2velodyne_right_base_link: + x: 0.0 + y: -0.56362 + z: -0.30555 + roll: -0.01 + pitch: 0.71 + yaw: -1.580 +sensor_kit_base_link2gnss: + x: -0.1 + y: 0.0 + z: -0.2 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +sensor_kit_base_link2imu_tamagawa: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 diff --git a/vehicle_launch/config/aip_xx1/sensors_calibration.yaml b/vehicle_launch/config/aip_xx1/sensors_calibration.yaml new file mode 100644 index 000000000..1aa097239 --- /dev/null +++ b/vehicle_launch/config/aip_xx1/sensors_calibration.yaml @@ -0,0 +1,28 @@ +base_link2sensor_kit_base_link: + x: 0.9 + y: 0.0 + z: 2.0 + roll: -0.001 + pitch: 0.015 + yaw: -0.0364 +base_link2livox_front_right_base_link: + x: 3.290 + y: -0.65485 + z: 0.3216 + roll: 0.0 + pitch: 0.0 + yaw: -0.872664444 +base_link2livox_front_left_base_link: + x: 3.290 + y: 0.65485 + z: 0.3016 + roll: -0.021 + pitch: 0.05 + yaw: 0.872664444 +base_link2velodyne_rear_base_link: + x: -0.358 + y: 0.0 + z: 1.631 + roll: -0.02 + pitch: 0.7281317 + yaw: 3.141592 diff --git a/vehicle_launch/config/aip_xx2/sensors_calibration.yaml b/vehicle_launch/config/aip_xx2/sensors_calibration.yaml new file mode 100644 index 000000000..e69de29bb diff --git a/vehicle_launch/launch/vehicle.launch b/vehicle_launch/launch/vehicle.launch new file mode 100644 index 000000000..653c7b527 --- /dev/null +++ b/vehicle_launch/launch/vehicle.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/vehicle_launch/launch/vehicle_description.launch b/vehicle_launch/launch/vehicle_description.launch new file mode 100644 index 000000000..341a2ae8e --- /dev/null +++ b/vehicle_launch/launch/vehicle_description.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/vehicle_launch/launch/vehicle_interface.launch b/vehicle_launch/launch/vehicle_interface.launch new file mode 100644 index 000000000..16706c1ee --- /dev/null +++ b/vehicle_launch/launch/vehicle_interface.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/vehicle_launch/package.xml b/vehicle_launch/package.xml new file mode 100644 index 000000000..457a38c13 --- /dev/null +++ b/vehicle_launch/package.xml @@ -0,0 +1,20 @@ + + + vehicle_launch + 0.1.0 + The vehicle_launch package + + Yukihiro Saito + Apache2 + + + catkin + camera_description + imu_description + livox_description + velodyne_description + + roscpp + + + diff --git a/vehicle_launch/urdf/vehicle.xacro b/vehicle_launch/urdf/vehicle.xacro new file mode 100644 index 000000000..30db9c6a7 --- /dev/null +++ b/vehicle_launch/urdf/vehicle.xacro @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + +