mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2025-01-18 15:46:59 +00:00
75 lines
3.5 KiB
XML
75 lines
3.5 KiB
XML
<launch>
|
|
<param name="use_sim_time" value="false" />
|
|
|
|
<!--<include file="$(find segwayrmp)/launch/segwayrmp_configuration.launch" />-->
|
|
|
|
<!-- Run the map server -->
|
|
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
|
|
<node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/>
|
|
|
|
<!--move base-->
|
|
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
|
<rosparam file="$(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/local_costmap_params.yaml" command="load" />
|
|
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
|
|
<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
|
|
<!-- scan topic -->
|
|
<remap from="scan" to="scan_filtered"/>
|
|
<!-- remap cmd_vel -->
|
|
<remap from="cmd_vel" to="nav_vel"/>
|
|
<!-- remap odom -->
|
|
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
|
|
</node>
|
|
|
|
<!-- AMCL -->
|
|
<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
|
|
<param name="use_map_topic" value="false"/>
|
|
<!-- Publish scans from best pose at a max of 10 Hz -->
|
|
<param name="odom_model_type" value="diff"/>
|
|
<param name="odom_alpha5" value="0.1"/>
|
|
<param name="gui_publish_rate" value="10.0"/>
|
|
<param name="laser_max_beams" value="60"/>
|
|
<param name="laser_max_range" value="12.0"/>
|
|
<param name="min_particles" value="500"/>
|
|
<param name="max_particles" value="2000"/>
|
|
<param name="kld_err" value="0.05"/>
|
|
<param name="kld_z" value="0.99"/>
|
|
<param name="odom_alpha1" value="0.2"/>
|
|
<param name="odom_alpha2" value="0.2"/>
|
|
<!-- translation std dev, m -->
|
|
<param name="odom_alpha3" value="0.2"/>
|
|
<param name="odom_alpha4" value="0.2"/>
|
|
<param name="laser_z_hit" value="0.5"/>
|
|
<param name="laser_z_short" value="0.05"/>
|
|
<param name="laser_z_max" value="0.05"/>
|
|
<param name="laser_z_rand" value="0.5"/>
|
|
<param name="laser_sigma_hit" value="0.2"/>
|
|
<param name="laser_lambda_short" value="0.1"/>
|
|
<param name="laser_model_type" value="likelihood_field"/>
|
|
<!-- <param name="laser_model_type" value="beam"/> -->
|
|
<param name="laser_likelihood_max_dist" value="2.0"/>
|
|
<param name="update_min_d" value="0.25"/>
|
|
<param name="update_min_a" value="0.2"/>
|
|
|
|
<param name="odom_frame_id" value="odom"/>
|
|
|
|
<param name="resample_interval" value="1"/>
|
|
<!-- Increase tolerance because the computer can get quite busy -->
|
|
<param name="transform_tolerance" value="1.0"/>
|
|
<param name="recovery_alpha_slow" value="0.0"/>
|
|
<param name="recovery_alpha_fast" value="0.0"/>
|
|
<!-- scan topic -->
|
|
<remap from="scan" to="scan_filtered"/>
|
|
<!-- remap cmd_vel -->
|
|
<remap from="cmd_vel" to="nav_vel"/>
|
|
<!-- remap odom -->
|
|
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
|
|
</node>
|
|
|
|
<!-- TF -->
|
|
<!-- <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.10 0.0 0.12 3.14 0.0 0.0 base_link laser 100"/>
|
|
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" /> -->
|
|
|
|
</launch> |