ellensohn/cps_rmp220_support
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compare: ellensohn:a57d981e7185600e9f6adfa0c99f3c473e0995ce
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2 changed files with 2 additions and 44 deletions
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41
config/dwa_base_local_planner_params.yaml
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@ -1,41 +0,0 @@
controller_frequency: 5.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
DWAPlannerROS:
max_vel_trans: 1.0
min_vel_trans: 0.2
max_vel_x: 1.0
min_vel_x: 0.2
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
min_in_place_vel_theta: 0.5
escape_vel: -0.1
acc_lim_x: 0.5
acc_lim_y: 0.0 # zero for a differential drive robot
acc_lim_theta: 1.0
holonomic_robot: false
yaw_goal_tolerance: 0.1 # about 6 degrees
xy_goal_tolerance: 0.15 # 10 cm
latch_xy_goal_tolerance: false
pdist_scale: 0.8
gdist_scale: 0.6
meter_scoring: true
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
occdist_scale: 0.1
oscillation_reset_dist: 0.05
publish_cost_grid_pc: false
prune_plan: true
sim_time: 2.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 8
vy_samples: 0 # zero for a differential drive robot
vtheta_samples: 20
dwa: true
simple_attractor: false

5
launch/move_base_core.launch
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@ -9,12 +9,11 @@
<!--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">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" /> <rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" /> <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
<!-- scan topic --> <!-- scan topic -->
<remap from="scan" to="scan_filtered"/> <remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel --> <!-- remap cmd_vel -->
@ -28,4 +27,4 @@
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms --> static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->
<!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> --> <!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
</launch> </launch>