Unverified Commit 5e32a0b0 authored by Simon Thomas's avatar Simon Thomas
Browse files

Adding corresponding naviagation parameters

parent 09d001a6
...@@ -36,18 +36,18 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -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="$(optenv HUSKY_LMS1XX_ENABLED false)"/> <arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
<arg name="kinect_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/> <arg name="kinect_enabled" default="$(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="$(arg robot_namespace)"> <group ns="$(arg robot_namespace)">
<group if="$(arg multimaster)">
<include file="$(find husky_description)/launch/description.launch" > <include file="$(find husky_description)/launch/description.launch" >
<arg name="robot_namespace" value="$(arg robot_namespace)"/> <arg name="robot_namespace" value="$(arg robot_namespace)"/>
<arg name="laser_enabled" default="$(arg laser_enabled)"/> <arg name="laser_enabled" default="$(arg laser_enabled)"/>
<arg name="kinect_enabled" default="$(arg kinect_enabled)"/> <arg name="kinect_enabled" default="$(arg kinect_enabled)"/>
<arg name="urdf_extras" default="$(arg urdf_extras)"/> <!--<arg name="urdf_extras" default="$(arg urdf_extras)"/>-->
</include> </include>
<group if="$(arg multimaster)">
<include file="$(find multimaster_launch)/launch/multimaster_gazebo_robot.launch"> <include file="$(find multimaster_launch)/launch/multimaster_gazebo_robot.launch">
<arg name="gazebo_interface" value="$(find husky_control)/config/gazebo_interface.yaml" /> <arg name="gazebo_interface" value="$(find husky_control)/config/gazebo_interface.yaml" />
<arg name="robot_namespace" value="$(arg robot_namespace)"/> <arg name="robot_namespace" value="$(arg robot_namespace)"/>
...@@ -64,7 +64,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -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="$(arg multimaster)"/> <arg name="multimaster" value="$(arg multimaster)"/>
<arg name="laser_enabled" value="$(arg laser_enabled)"/> <arg name="laser_enabled" value="$(arg laser_enabled)"/>
<arg name="kinect_enabled" value="$(arg kinect_enabled)"/> <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
<arg name="urdf_extras" value="$(arg urdf_extras)"/> <!-- arg name="urdf_extras" value="$(arg urdf_extras)"/> -->
</include> </include>
</group> </group>
......
...@@ -13,12 +13,12 @@ raytrace_range: 6.0 ...@@ -13,12 +13,12 @@ raytrace_range: 6.0
#layer definitions #layer definitions
static: static:
map_topic: /map map_topic: /rtabmap/grid_map
subscribe_to_updates: true subscribe_to_updates: true
obstacles_laser: obstacles_laser:
observation_sources: laser observation_sources: robosense zed
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true} 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:
inflation_radius: 1.0 inflation_radius: 1.0
...@@ -13,12 +13,12 @@ TrajectoryPlannerROS: ...@@ -13,12 +13,12 @@ TrajectoryPlannerROS:
max_vel_x: 1.0 max_vel_x: 1.0
min_vel_x: 0.0 min_vel_x: 0.0
max_vel_theta: 1.0 max_vel_theta: 0.5
min_vel_theta: -1.0 min_vel_theta: -0.5
min_in_place_vel_theta: 0.2 min_in_place_vel_theta: 0.4
holonomic_robot: false holonomic_robot: false
escape_vel: -0.1 escape_vel: -0.3
# Goal Tolerance Parameters # Goal Tolerance Parameters
yaw_goal_tolerance: 0.1 yaw_goal_tolerance: 0.1
...@@ -64,7 +64,7 @@ DWAPlannerROS: ...@@ -64,7 +64,7 @@ DWAPlannerROS:
max_trans_vel: 0.5 max_trans_vel: 0.5
min_trans_vel: 0.1 min_trans_vel: 0.1
max_rot_vel: 1.0 max_rot_vel: 0.5
min_rot_vel: 0.2 min_rot_vel: 0.2
# Goal Tolerance Parameters # Goal Tolerance Parameters
...@@ -90,4 +90,4 @@ DWAPlannerROS: ...@@ -90,4 +90,4 @@ DWAPlannerROS:
# max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by # max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by
# # Oscillation Prevention Parameters # # 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)
\ No newline at end of file
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