ros-pkg: moved az3 planner config in this project

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1919 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/config/azimut3/base_local_planner_params.yaml

@@ -0,0 +1,32 @@
+TrajectoryPlannerROS:
+
+  # Current limits based on AZ3 standalone configuration.
+  acc_lim_x:  0.75
+  acc_lim_y:  0.75
+  acc_lim_th: 4.00
+  # min_vel_x and max_rotational_vel were set to keep the ICR at
+  # minimal distance of 0.48 m. 
+  # Basically, max_rotational_vel * rho_min <= min_vel_x
+  max_vel_x:  0.500
+  min_vel_x:  0.212
+  max_rotational_vel: 0.550
+  min_in_place_rotational_vel: 0.15
+  escape_vel: -0.10
+  holonomic_robot: false
+
+  xy_goal_tolerance:  0.20
+  yaw_goal_tolerance: 0.20
+
+  sim_time: 1.7
+  sim_granularity: 0.025
+  vx_samples: 3
+  vtheta_samples: 3
+  vtheta_samples: 20
+
+  goal_distance_bias: 0.8
+  path_distance_bias: 0.6
+  occdist_scale: 0.01
+  heading_lookahead: 0.325
+  dwa: true
+
+  oscillation_reset_dist: 0.05

launch/config/azimut3/costmap_common_params.yaml

@@ -0,0 +1,11 @@
+obstacle_range: 2.5
+raytrace_range: 3.0
+footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
+#robot_radius: ir_of_robot
+inflation_radius: 0.55
+
+observation_sources: laser_scan_sensor point_cloud_sensor
+
+laser_scan_sensor: {data_type: LaserScan, topic: base_scan, marking: true, clearing: true}
+
+point_cloud_sensor: {data_type: PointCloud2, topic: openni_points, marking: true, clearing: true}

launch/config/azimut3/global_costmap_params.yaml

@@ -0,0 +1,5 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  static_map: true

launch/config/azimut3/local_costmap_params.yaml

@@ -0,0 +1,10 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 4.0
+  height: 4.0
+  resolution: 0.05