Adding corresponding naviagation parameters

husky_gazebo/launch/spawn_husky.launch

@@ -36,18 +36,18 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 
   <arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
   <arg name="kinect_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/>
-  <arg name="urdf_extras" default="$(optenv HUSKY_URDF_EXTRAS)"/>
+	  <!--arg name="urdf_extras" default="$(optenv HUSKY_URDF_EXTRAS)"/> -->
 
   <group ns="$(arg robot_namespace)">
 
-    <group if="$(arg multimaster)">
       <include file="$(find husky_description)/launch/description.launch" >
         <arg name="robot_namespace" value="$(arg robot_namespace)"/>
         <arg name="laser_enabled" default="$(arg laser_enabled)"/>
         <arg name="kinect_enabled" default="$(arg kinect_enabled)"/>
-        <arg name="urdf_extras" default="$(arg urdf_extras)"/>
+		<!--<arg name="urdf_extras" default="$(arg urdf_extras)"/>-->
       </include>
         
+    <group if="$(arg multimaster)">
       <include file="$(find multimaster_launch)/launch/multimaster_gazebo_robot.launch">
         <arg name="gazebo_interface" value="$(find husky_control)/config/gazebo_interface.yaml" />
         <arg name="robot_namespace" value="$(arg robot_namespace)"/>
@@ -64,7 +64,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
         <arg name="multimaster" value="$(arg multimaster)"/>
         <arg name="laser_enabled" value="$(arg laser_enabled)"/>
         <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
-        <arg name="urdf_extras" value="$(arg urdf_extras)"/>
+		<!-- arg name="urdf_extras" value="$(arg urdf_extras)"/> -->
       </include>
     </group>
 

husky_navigation/config/costmap_common.yaml

@@ -13,12 +13,12 @@ raytrace_range: 6.0
 
 #layer definitions
 static:
-    map_topic: /map
+    map_topic: /rtabmap/grid_map
     subscribe_to_updates: true
 
 obstacles_laser:
-    observation_sources: laser
-    laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}
-
+    observation_sources: robosense zed
+    robosense: {sensor_frame: robosense, data_type: PointCloud2, topic: rs_points, marking: true, clearing: true}
+    zed: {sensor_frame: zed_optical_frame, data_type: PointCloud2, topic: zed/depth/points, marking: true, clearing: true}
 inflation:
     inflation_radius: 1.0

husky_navigation/config/planner.yaml

@@ -13,12 +13,12 @@ TrajectoryPlannerROS:
   max_vel_x: 1.0
   min_vel_x: 0.0
 
-  max_vel_theta: 1.0
-  min_vel_theta: -1.0
-  min_in_place_vel_theta: 0.2
+  max_vel_theta: 0.5
+  min_vel_theta: -0.5
+  min_in_place_vel_theta: 0.4
 
   holonomic_robot: false
-  escape_vel: -0.1
+  escape_vel: -0.3
 
   # Goal Tolerance Parameters
   yaw_goal_tolerance: 0.1
@@ -64,7 +64,7 @@ DWAPlannerROS:
 
   max_trans_vel: 0.5
   min_trans_vel: 0.1
-  max_rot_vel: 1.0
+  max_rot_vel: 0.5
   min_rot_vel: 0.2
 
   # Goal Tolerance Parameters
@@ -90,4 +90,4 @@ DWAPlannerROS:
   # max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by
 
   # # Oscillation Prevention Parameters
-  # oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
+  # oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
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