ellensohn/cps_rmp220_support
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Your Name 2025-01-17 10:40:27 +01:00
parent 0e8a38fcce
commit a8b9880f2f
3 changed files with 15 additions and 3 deletions
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6
launch/move_base.launch
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@ -5,7 +5,7 @@
<!-- Run the map server --> <!-- Run the map server -->
<!--<node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/>--> <!--<node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/>-->
<node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.yaml"/> <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.yaml"/> -->
<!--move base--> <!--move base-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
@ -16,7 +16,7 @@
<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" /> <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
</node> </node>
<!--启动 AMCL 节点 --> <!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl" clear_params="true"> <node pkg="amcl" type="amcl" name="amcl" clear_params="true">
<param name="use_map_topic" value="false"/> <param name="use_map_topic" value="false"/>
<!-- Publish scans from best pose at a max of 10 Hz --> <!-- Publish scans from best pose at a max of 10 Hz -->
@ -54,7 +54,7 @@
<param name="recovery_alpha_slow" value="0.0"/> <param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/> <param name="recovery_alpha_fast" value="0.0"/>
<!-- scan topic --> <!-- scan topic -->
<remap from="scan" to="scan"/> <remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel --> <!-- remap cmd_vel -->
<remap from="cmd_vel" to="nav_vel"/> <remap from="cmd_vel" to="nav_vel"/>
<!-- remap odom --> <!-- remap odom -->

5
maps/map.pgm Normal file
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7
maps/map.yaml Normal file
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@ -0,0 +1,7 @@
image: /debug_ws/src/maps/newmap.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196