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LocalPlannerTest.launch
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<launch>
<param name="/use_sim_time" value="true"/>
<!--Simulator -->
<!-- <node pkg="stage_ros" type="stageros" name="stage" args="/home/delmond/Documents/ROS/stage_worlds/pioneer.world">
</node> -->
<node pkg="stage_ros" type="stageros" name="stage" args="/home/delmond/Documents/ROS/stage_worlds/pioneer_tworobots.world">
<remap from="/robot_0/cmd_vel" to="/cmd_vel" />
</node>
<!-- <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
<rosparam param="mappings">[{old: robot_0/base_footprint, new: base_footprint}, {old: robot_0/base_link, new: base_link}, {old: robot_0/base_scan, new: base_scan}] </rosparam>
</node> -->
<!-- Controller -->
<node pkg="rqt_gui" type="rqt_gui" name="rqt_gui">
</node>
<!-- Visualizer -->
<node pkg="rviz" type="rviz" name="rviz">
</node>
<!-- Navigation Stack -->
<!-- SLAM -->
<group ns="robot_0">
<param name="tf_prefix" value="robot_0" />
<node pkg="gmapping" type="slam_gmapping"
respawn="false" name="slam_gmapping" output="screen">
<!-- <remap from="scan" to="/base_scan" /> -->
<!-- <remap from="odom" to="/robot_0/odom" /> -->
<!-- <param name="odom_frame" value="/robot_0/odom"/>
<param name="base_frame" value="/robot_0/base_link"/> -->
<param name="map_update_interval" value="5"/>
<param name="maxUrange" value="6.0"/>
<param name="iterations" value="1"/>
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.1"/>
<param name="temporalUpdate" value="-1.0" />
<param name="particles" value="200"/>
<param name="xmin" value="-8.0"/>
<param name="ymin" value="-8.0"/>
<param name="xmax" value="8.0"/>
<param name="ymax" value="8.0"/>
<param name="minimumScore" value="200.0"/>
<param name="srr" value="0.03"/>
<param name="str" value="0.03"/>
<param name="srt" value="0.00"/>
<param name="stt" value="0.05"/>
<!-- <param name="transform_publish_period" value="0.1" /> -->
</node>
<!-- <node pkg="map_server" type="map_server" name="map_server" args="/home/delmond/discovered2.yaml">
</node> -->
<node pkg="amcl" type="amcl" name="amcl" >
<remap from="scan" to="/base_scan" />
</node>
<!-- Global and Local path planner -->
<!-- <group ns="robot_0"> -->
<!-- <param name="tf_prefix" value="robot_0" /> -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<remap from="map" to="/map" />
<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/local_costmap_params.yaml"
command="load" />
<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/global_costmap_params.yaml"
command="load" />
<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/local_planner_params.yaml"
command="load" />
<param name="base_global_planner" type="string" value="navfn/NavfnROS" />
<param name="base_local_planner" value="pathplanner/DynamicWindow" />
<param name="controller_frequency" type="double" value="6.0" />
</node>
</group>
</launch>