- Initial Release
- [pharos_map] Add DaeguPG Drivable map (DRV,OBST map - v1.2.0)*
- [pharos_bringup] Add bringup_sensor.launch
- [pharos_bringup] Add simulation-purpose grouped-launch files*
- [pharos_bringup] Grouped Rviz modified
- [pharos_driver] Fix LiDAR Driver
- [pharos_perception] Optimizing Package Configuration
- [pharos_perception] Cluster Integarted to Python-Open3D
- [external_source] Add time delayed roslaunch (Multi-Sensor Init)
- [pharos_perception] Redifined Code Structure
- [pharos_driver] Multi-Band Ublox ZED-F9P RTK, NTRIP Server Added
- ROS system
roscore
rosparam set /use_sim_time true
rosbag play --pause ${rosbag directory} - TF / Rviz
roslaunch pharos_utm_odometry tf2_utm_odometry.launch frame:=gps
roslaunch pharos_map_server pharos_map_server.launch - Vehicle Sensor
roslaunch velodyne_pointcloud pharos_velodyne.launch
roslaunch ouster_ros pharos_ouster.launch replay:=true- Vehicle Perception
roslaunch pharos_perception perception_Mission.launch (Mission1 - highway mission)
roslaunch pharos_perception perception_Mission_uphill.launch (Mission2 - uphill mission)
roslaunch pharos_perception LiDAR_Fusing.launch
roslaunch pharos_perception LiDAR_Map_Filter.launch
roslaunch pharos_perception LiDAR_Obstacle.launch- Vehicle Localization
roslaunch pharos_ekf ublox_ekf.launch
roslaunch pharos_bringup pg_main.launch
<!--roslaunch pharos_mcl_pretreat pretreat_tilt.launch-->
<!--roslaunch pharos_mcl pharos_MCL.launch-->
<!--roslaunch pharos_localization predict_ekf.launch bag:=true-->- Vehicle Planning Mission1
roslaunch pharos_path_planner global_path_planning.launch
roslaunch pharos_speed_planner speed_planner.launch
roslaunch pharos_path_planner 3d_path_planning.launch
roslaunch pharos_trajectory_observer trajectory_observer.launch
<!--roslaunch pharos_behavior_planner behavior_planner.launch-->- Vehicle Planning Mission2
roslaunch pharos_path_planner global_path_planning_mission2.launch
roslaunch pharos_path_planner 3d_path_planning.launch
roslaunch pharos_trajectory_observer trajectory_observer.launchroscd
cd ..
cp src/pharos_drivers/ouster_driver/ouster_ros/config/os1-128.meta ~/.ros/os1-128.meta
rosparam set /use_sim_time true
roslaunch ouster_ros ouster.launch replay:=true
ouster 단일 mcl 수정 중... 현재 /odom/mcl frame_id "map" 으로 되어있음. 0325/area_all.bag 175초 부근 발산 확인 필요.
현재 .pgm 맵은 /odom 좌표계가 아닌 /map 좌표계에 맞춰져있음 tf listener 등을 이용하여 위치 데이터를 map 좌표계로 변환하여 사용(출력 할 때 다시 odom 좌표계로 변환하기)
<<이거 바꾸지 마세요 default 경로 ~/.ros 폴더입니다. ~/.ros/os1-128.meta 로 만들면 됩니다.
roscore
rosbag play ${bag파일 위치 ex) ~/Documents/Bagfile/kcity_01_full_mission.bag}
roslaunch pharos_localization tf2_utm_odometry.launch
roslaunch pharos_bringup pg_rviz.launch
roslaunch pharos_localization ublox_ekf.launch bag:=true