Commit 24d1fbca authored by Nicolas Federico Furquez Morena's avatar Nicolas Federico Furquez Morena
Browse files

Merge branch 'juntando-cosas' into 'branch_nico'

Juntando cosas

See merge request !6
parents b5c788c0 378f5bbe
# Configuraciones necesarias en el HOST para poder visualizar las TFs estaticas en Rviz
ROS_MASTER_URI=http://172.19.0.2:11311
ROS_IP=172.19.0.1
version: "3.8"
services:
tf-publisher:
#image: osrf/ros:kinetic-desktop-full-xenial-devel-tmp
#container_name: ros-kinetic-devel-node-calibrator
image: fing:ros-kinetic-robot-xenial
container_name: ros-kinetic-robot-xenial-node-tf-publisher
environment:
- "ROS_IP=172.19.0.2"
- "ROS_MASTER_URI=http://172.19.0.2:11311"
hostname: master
networks:
default:
ipv4_address: 172.19.0.2
volumes:
#- /home/oskysal/docker/ros/:/root/.ros/
#- /home/oskysal/fing/git/superrobot/alfred:/root/fing/git/superrobot/alfred
- /home/oskysal/docker/ros/container/root/.ros:/root/.ros
- /home/oskysal/docker/ros/container/root/catkin_ws:/root/catkin_ws
- /home/oskysal/git/Repo-pgLocRobIn2018/Desarrollo/Integracion ROS/localization_localino:/root/catkin_ws/src/localization_localino
- /home/oskysal/git/Repo-pgLocRobIn2018:/root/pg
#entrypoint: "tail -f /dev/null"
command: bash -c "cd /root/catkin_ws/ && catkin_make && source /root/catkin_ws/devel/setup.bash && roslaunch localization_localino run_anchors_static_tf_publisher.launch"
#command: bash -c "sleep 10s && roslaunch localization_localino publish_anchors_tf.launch anchors_csv:=/root/catkin_ws/src/localization_localino/scripts/anchors.csv ; roscore"
#command: bash -c "sleep 10s && roscore"
#command: tail -f /dev/null
#command: "roslaunch localization_localino publish_anchors_tf.launch anchors_csv:=/root/catkin_ws/src/localization_localino/scripts/anchors.csv"
#devices:
# - "/dev/ttyACM0:/dev/ttyACM0"
networks:
default:
driver: bridge
#external:
#name: ros-network
ipam:
driver: default
config:
- subnet: 172.19.0.0/16
\ No newline at end of file
version: "3.8"
services:
simulator:
#image: osrf/ros:kinetic-desktop-full-xenial-devel-tmp
#container_name: ros-kinetic-devel-node-calibrator
image: fing:ros-kinetic-robot-xenial
container_name: ros-kinetic-robot-xenial-node-estimate
volumes:
#- /home/oskysal/docker/ros/:/root/.ros/
#- /home/oskysal/fing/git/superrobot/alfred:/root/fing/git/superrobot/alfred
- /home/oskysal/docker/ros/container/root/.ros:/root/.ros
- /home/oskysal/docker/ros/container/root/catkin_ws:/root/catkin_ws
- /home/oskysal/git/Repo-pgLocRobIn2018/Desarrollo/Integracion ROS/localization_localino:/root/catkin_ws/src/localization_localino
- /home/oskysal/git/Repo-pgLocRobIn2018:/root/pg
#entrypoint: "tail -f /dev/null"
command: bash -c "cd /root/catkin_ws/ && catkin_make && source /root/catkin_ws/devel/setup.bash && roslaunch localization_localino run_multi_filters.launch"
#command: bash -c "sleep 10s && roslaunch localization_localino publish_anchors_tf.launch anchors_csv:=/root/catkin_ws/src/localization_localino/scripts/anchors.csv ; roscore"
#command: bash -c "sleep 10s && roscore"
#command: tail -f /dev/null
#command: "roslaunch localization_localino publish_anchors_tf.launch anchors_csv:=/root/catkin_ws/src/localization_localino/scripts/anchors.csv"
#devices:
# - "/dev/ttyACM0:/dev/ttyACM0"
......@@ -5,7 +5,7 @@
<!-- <node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="$(arg anchors_csv)" respawn="true" output="screen" /> -->
<!-- Output to log -->
<node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/home/nico/Proyecto/RepoFinal/Investigacion/pruebas.csv" respawn="true" />
<!-- Original -->
<!-- <node name="anchors" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/root/catkin_ws/src/localization_localino/scripts/anchors.csv" respawn="true"/> -->
</launch>
<launch>
<arg name="anchors_csv" default="/root/catkin_ws/src/localization_localino/scripts/puntos.csv" doc="ruta arvhico CSV con posiciones de los anchors" />
<!-- Output to screen -->
<node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="$(arg anchors_csv)" respawn="true" output="screen" />
<!-- Output to log -->
<!--<node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/home/nico/Proyecto/RepoFinal/Investigacion/error_localizacion/posiciones1.csv" respawn="true" />-->
<!-- Original -->
<!-- <node name="anchors" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/root/catkin_ws/src/localization_localino/scripts/anchors.csv" respawn="true"/> -->
</launch>
......@@ -17,34 +17,43 @@ beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
anchor1: 5,
anchor2: 10,
anchor3: 1,
anchor4: 16,
anchor5: 17,
anchor6: 13,
anchor7: 2,
anchor8: 18,
anchor9: 7,
anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
anchor1: 1,
anchor2: 2,
anchor3: 3,
anchor4: 14,
anchor5: 18,
#anchor6: 6,
#anchor7: 7,
#anchor8: 8,
#anchor9: 9,
#anchor10: 10,
#anchor11: 11,
#anchor12: 12,
#anchor13: 13,
#anchor14: 14,
#anchor18: 18,
}
anchor_pos: {
anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
anchor9: [3.295,2.778,1.803],
anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
anchor1: [0.869,9.077,1.649], #1
anchor2: [-3.692,8.882,1.624], #2
anchor3: [3.291,7.809,1.691], #3
#anchor4: [3.274,5.404,1.732], #4
#anchor5: [3.276,5.405,1.207], #5
#anchor6: [-0.295,5.717,2.152], #6
#anchor7: [3.295,2.778,1.803], #7
#anchor8: [0.091,4.091,1.975], #8
#anchor9: [-0.127,1.703,1.985], #9
#anchor10: [-3.688,2.904,1.749], #10
#anchor11: [-2.331,6.625,2.303], #11
#anchor12: [2.089,1.638,1.987], #12
#anchor13: [3.282,1.457,1.594], #13
anchor4: [3.28,-0.827,1.731], #14
#anchor15: [0.389,-3.331,1.779], #15
#anchor16: [3.083,-5.714,1.709], #16
#anchor17: [-3.697,-3.163,1.725], #17
anchor5: [-3.701,-0.824,1.493], #18
#anchor19: [-3.696,0.378,1.983], #19
#anchor20: [1.384,-0.809,2.301], #20
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
......@@ -57,8 +66,8 @@ debug: true
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_0
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/10_filtro_0.csv
cant_medidas: 1000
output_file: /root/pg/Investigacion/0los_5nlos_filtro_0.csv
cant_medidas: 1020
</rosparam>
</node>
......@@ -79,34 +88,43 @@ beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
anchor1: 5,
anchor2: 10,
anchor3: 1,
anchor4: 16,
anchor5: 17,
anchor6: 13,
anchor7: 2,
anchor8: 18,
anchor9: 7,
anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
anchor1: 1,
anchor2: 2,
anchor3: 3,
anchor4: 14,
anchor5: 18,
#anchor6: 6,
#anchor7: 7,
#anchor8: 8,
#anchor9: 9,
#anchor10: 10,
#anchor11: 11,
#anchor12: 12,
#anchor13: 13,
#anchor14: 14,
#anchor18: 18,
}
anchor_pos: {
anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
anchor9: [3.295,2.778,1.803],
anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
anchor1: [0.869,9.077,1.649], #1
anchor2: [-3.692,8.882,1.624], #2
anchor3: [3.291,7.809,1.691], #3
#anchor4: [3.274,5.404,1.732], #4
#anchor5: [3.276,5.405,1.207], #5
#anchor6: [-0.295,5.717,2.152], #6
#anchor7: [3.295,2.778,1.803], #7
#anchor8: [0.091,4.091,1.975], #8
#anchor9: [-0.127,1.703,1.985], #9
#anchor10: [-3.688,2.904,1.749], #10
#anchor11: [-2.331,6.625,2.303], #11
#anchor12: [2.089,1.638,1.987], #12
#anchor13: [3.282,1.457,1.594], #13
anchor4: [3.28,-0.827,1.731], #14
#anchor15: [0.389,-3.331,1.779], #15
#anchor16: [3.083,-5.714,1.709], #16
#anchor17: [-3.697,-3.163,1.725], #17
anchor5: [-3.701,-0.824,1.493], #18
#anchor19: [-3.696,0.378,1.983], #19
#anchor20: [1.384,-0.809,2.301], #20
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
......@@ -119,8 +137,8 @@ debug: true
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_1
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/10_filtro_1.csv
cant_medidas: 1000
output_file: /root/pg/Investigacion/0los_5nlos_filtro_1.csv
cant_medidas: 1020
</rosparam>
</node>
......@@ -141,34 +159,43 @@ beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
anchor1: 5,
anchor2: 10,
anchor3: 1,
anchor4: 16,
anchor5: 17,
anchor6: 13,
anchor7: 2,
anchor8: 18,
anchor9: 7,
anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
anchor1: 1,
anchor2: 2,
anchor3: 3,
anchor4: 14,
anchor5: 18,
#anchor6: 6,
#anchor7: 7,
#anchor8: 8,
#anchor9: 9,
#anchor10: 10,
#anchor11: 11,
#anchor12: 12,
#anchor13: 13,
#anchor14: 14,
#anchor18: 18,
}
anchor_pos: {
anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
anchor9: [3.295,2.778,1.803],
anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
anchor1: [0.869,9.077,1.649], #1
anchor2: [-3.692,8.882,1.624], #2
anchor3: [3.291,7.809,1.691], #3
#anchor4: [3.274,5.404,1.732], #4
#anchor5: [3.276,5.405,1.207], #5
#anchor6: [-0.295,5.717,2.152], #6
#anchor7: [3.295,2.778,1.803], #7
#anchor8: [0.091,4.091,1.975], #8
#anchor9: [-0.127,1.703,1.985], #9
#anchor10: [-3.688,2.904,1.749], #10
#anchor11: [-2.331,6.625,2.303], #11
#anchor12: [2.089,1.638,1.987], #12
#anchor13: [3.282,1.457,1.594], #13
anchor4: [3.28,-0.827,1.731], #14
#anchor15: [0.389,-3.331,1.779], #15
#anchor16: [3.083,-5.714,1.709], #16
#anchor17: [-3.697,-3.163,1.725], #17
anchor5: [-3.701,-0.824,1.493], #18
#anchor19: [-3.696,0.378,1.983], #19
#anchor20: [1.384,-0.809,2.301], #20
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
......@@ -181,8 +208,8 @@ debug: true
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_2
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/10_filtro_2.csv
cant_medidas: 1000
output_file: /root/pg/Investigacion/0los_5nlos_filtro_2.csv
cant_medidas: 1020
</rosparam>
</node>
......@@ -203,34 +230,43 @@ beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
anchor1: 5,
anchor2: 10,
anchor3: 1,
anchor4: 16,
anchor5: 17,
anchor6: 13,
anchor7: 2,
anchor8: 18,
anchor9: 7,
anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
anchor1: 1,
anchor2: 2,
anchor3: 3,
anchor4: 14,
anchor5: 18,
#anchor6: 6,
#anchor7: 7,
#anchor8: 8,
#anchor9: 9,
#anchor10: 10,
#anchor11: 11,
#anchor12: 12,
#anchor13: 13,
#anchor14: 14,
#anchor18: 18,
}
anchor_pos: {
anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
anchor9: [3.295,2.778,1.803],
anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
anchor1: [0.869,9.077,1.649], #1
anchor2: [-3.692,8.882,1.624], #2
anchor3: [3.291,7.809,1.691], #3
#anchor4: [3.274,5.404,1.732], #4
#anchor5: [3.276,5.405,1.207], #5
#anchor6: [-0.295,5.717,2.152], #6
#anchor7: [3.295,2.778,1.803], #7
#anchor8: [0.091,4.091,1.975], #8
#anchor9: [-0.127,1.703,1.985], #9
#anchor10: [-3.688,2.904,1.749], #10
#anchor11: [-2.331,6.625,2.303], #11
#anchor12: [2.089,1.638,1.987], #12
#anchor13: [3.282,1.457,1.594], #13
anchor4: [3.28,-0.827,1.731], #14
#anchor15: [0.389,-3.331,1.779], #15
#anchor16: [3.083,-5.714,1.709], #16
#anchor17: [-3.697,-3.163,1.725], #17
anchor5: [-3.701,-0.824,1.493], #18
#anchor19: [-3.696,0.378,1.983], #19
#anchor20: [1.384,-0.809,2.301], #20
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
......@@ -243,8 +279,8 @@ debug: true
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_3
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/10_filtro_3.csv
cant_medidas: 1000
output_file: /root/pg/Investigacion/0los_5nlos_filtro_3.csv
cant_medidas: 1020
</rosparam>
</node>
......@@ -254,16 +290,11 @@ cant_procesos: 4
</rosparam>
</node>
<arg name="carpeta" value="/home/nico/Proyecto/RepoFinal/Investigacion/bags_distancias/" />
<node pkg="rosbag" type="play" name="player5" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_5.bag"/>
<node pkg="rosbag" type="play" name="player10" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_10.bag"/>
<node pkg="rosbag" type="play" name="player1" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_1.bag"/>
<node pkg="rosbag" type="play" name="player16" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_16.bag"/>
<node pkg="rosbag" type="play" name="player17" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_17.bag"/>
<node pkg="rosbag" type="play" name="player13" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_13.bag"/>
<node pkg="rosbag" type="play" name="player2" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_2.bag"/>
<node pkg="rosbag" type="play" name="player18" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_18.bag"/>
<node pkg="rosbag" type="play" name="player7" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_7.bag"/>
<node pkg="rosbag" type="play" name="player4" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_4.bag"/>
<arg name="carpeta" value="/root/pg/Investigacion/bags_distancias" />
<node pkg="rosbag" type="play" name="player1" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_1_O.bag" />
<node pkg="rosbag" type="play" name="player2" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_2_O.bag" />
<node pkg="rosbag" type="play" name="player3" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_3_O.bag" />
<node pkg="rosbag" type="play" name="player14" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_14_O.bag" />
<node pkg="rosbag" type="play" name="player18" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_18_O.bag" />
</launch>
\ No newline at end of file
Panels:
- Class: rviz/Displays
Help Height: 253
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Grid1
- /Grid1/Offset1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 547
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /Interact1
- /Publish Point1
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: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 2
Z: 0
Plane: XY
Plane Cell Count: 17
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
pto_1:
Value: true
pto_10:
Value: true
pto_11:
Value: true
pto_12:
Value: true
pto_13:
Value: true
pto_14:
Value: true
pto_15:
Value: true
pto_16:
Value: true
pto_17:
Value: true
pto_18:
Value: true
pto_19:
Value: true
pto_2:
Value: true
pto_20:
Value: true
pto_3:
Value: true
pto_4:
Value: true
pto_5:
Value: true
pto_6:
Value: true
pto_7:
Value: true
pto_8:
Value: true
pto_9:
Value: true
world:
Value: false
Marker Scale: 2
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
world:
pto_1:
{}
pto_10:
{}
pto_11:
{}
pto_12:
{}
pto_13:
{}
pto_14:
{}
pto_15:
{}
pto_16:
{}
pto_17:
{}
pto_18:
{}
pto_19:
{}
pto_2:
{}
pto_20:
{}
pto_3:
{}
pto_4:
{}
pto_5:
{}
pto_6:
{}
pto_7:
{}
pto_8:
{}
pto_9:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- 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/Interact
Hide Inactive Objects: true
- Class: rviz/FocusCamera
- Class: rviz/MoveCamera
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point