feat: sample mobile robot

individual_params/config/default/control_launch/accel_map.csv

@@ -0,0 +1,12 @@
+default ,0    ,0.1   ,0.2   ,0.3   ,0.4   ,0.5   ,0.6   ,0.7   ,0.8   ,0.9   ,1     ,1.1   ,1.2   ,1.3
+    0   ,0    ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02
+    0.1 ,0.02 ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.2 ,0.02 ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.3 ,0.02 ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.4 ,0.03 ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.5 ,0.03 ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.6 ,0.05 ,0.03  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.7 ,0.05 ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.8 ,0.05 ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.9 ,0.05 ,0.05  ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,-0.02 ,-0.02
+    1   ,0.05 ,0.05  ,0.05  ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,-0.02 ,-0.02

individual_params/config/default/control_launch/brake_map.csv

@@ -0,0 +1,10 @@
+default ,0 ,0.1   ,0.2   ,0.3   ,0.4   ,0.5   ,0.6   ,0.7   ,0.8   ,0.9   , 1
+0       ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.1     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.2     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.3     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.4     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.5     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.6     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.7     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.8     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05

individual_params/config/default/sample_mobile_robot_sensor/imu_corrector.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_offset_x: 0.00339    # [rad/s]
+    angular_velocity_offset_y: 0.00339    # [rad/s]
+    angular_velocity_offset_z: 0.00339    # [rad/s]
+    angular_velocity_stddev_xx: 0.0   # [rad/s]
+    angular_velocity_stddev_yy: 0.0   # [rad/s]
+    angular_velocity_stddev_zz: 0.0   # [rad/s]

individual_params/config/default/sample_mobile_robot_sensor/sensor_kit_calibration.yaml

@@ -0,0 +1,15 @@
+sensor_kit_base_link:
+  xt32_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796327
+  xt32_front_base_link:
+    x: 0.18
+    y: 0.0
+    z: -0.9468
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796327

individual_params/config/default/sample_mobile_robot_sensor/sensors_calibration.yaml

@@ -0,0 +1,15 @@
+base_link:
+  sensor_kit_base_link: # sensor_kit_base_link = xt32_top_base_link
+    x: 0.344
+    y: 0.0
+    z: 1.103
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  imu_link:
+    x: -0.096
+    y: 0.0
+    z: 0.3886
+    roll: 3.1415926535
+    pitch: 0.0
+    yaw: 1.570796327

individual_params/config/default/sample_mobile_robot_sensor/vehicle_velocity_converter.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    speed_scale_factor: 1.0 # [-] speed scale factor
+    velocity_stddev_xx: 0.0852  # [m/s]
+    angular_velocity_stddev_zz: 0.1  # [rad/s]
+    frame_id: base_link