Share Params Between Physical and Simulation Testing Launch Files

[zghera]

Description

Once #20 is complete, we still need to tune many of the params related to move_base so that we do not need duplicate param files or other nodes (e.g. static transforms) for simulation vs physical testing.

As of Autonomous-Motorsports-Purdue/AMP_ASSv1#11, the parameter files src/kart_2dnav/params/ that are mostly shared between physical and simulation test launch files match that of the param files in teb_local_planner_tutorials. This is necessary for running the simulation launch file so our simulated kart is scaled properly to the map used for simulation testing (we took our testing map from teb_local_planner_tutorials).

This issue also replaces/includes Autonomous-Motorsports-Purdue/AMP_ASSv1#8. These params will need to be altered to reflect the physical kart parameters. Since many of the params will not be the same as teb_local_planner_tutorials's kart params, the simulation will fail (e.g. kart too close to walls on start).

Sub-tasks

• Update the robot/sensor specific params in src/kart_2dnav/params/ indicated by the TODOs with direct measurements from the kart or from the Velodyne LiDAR documentation (e.g. sensor range to update the obstacle_range parameter in costmap_common_params).

• Additionally static transforms for the kart are defined in src/static_tf_config/launch/static_transforms_config.launch. These transform values should be re-measured and verified (originally Update Static Transforms with Correct Values AMP_ASSv1#5).

• Fix the simulation so that it works with the new parameters. This may mean altering the size of the map we use (size per grid square param for rviz) or creating a new map altogether.

Resources

• Related doc for characterizing the cmd_vel topic messages. Specifically, we will care about the steering angle and velocity parameters.

[alanssitis]

@zghera , me and @Reschivon are claiming this issue.

[zghera]

@zghera , me and @Reschivon are claiming this issue.

Sounds good! I am going to merge Autonomous-Motorsports-Purdue/AMP_ASSv1#8 into this issue as they are strongly coupled. So that should hopefully make things less confusing for you guys. Once I update it, I will let you both know!