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ros-pkg: moved az3 planner config in this project

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1919 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-23 20:07:59 +00:00
parent 6b23e4ebc3
commit 1ef71dd5af
8 changed files with 75 additions and 160 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+16 -21
View File
@@ -11,30 +11,27 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
<remap from="joy" to="/joy"/>
<node name="teleop" pkg="nodelet" type="nodelet"
args="standalone azimut_tools/Teleop"/>
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
<param name="cmd_eta/abtr_priority" value="50"/>
</group>
<group ns="go_back">
<remap from="joy" to="/joy"/>
<remap from="goal" to="/planner_goal"/>
<node name="go_back" pkg="azimut_tools" type="go_back"/>
<rosparam>
btn_save: 1
btn_goto: 3
</rosparam>
</group>
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<include file="$(find az3_navigation)/launch/az3_move_base_slam.launch"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -42,6 +39,7 @@
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
</node>
<!-- Arbitration between teleop and planner -->
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
@@ -87,14 +85,11 @@
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
<node pkg="nodelet" type="nodelet" name="disparity_odom_sync" args="load rtabmap/disparity_odom_sync stereo_nodelet">
<remap from="disparity" to="disparity"/>
<remap from="camera_info" to="right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity_sync"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle_sync"/>
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="/planner_cloud"/>
<param name="voxel_size" type="double" value="0.05"/>