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Updated az3_mapping_robot_nav.launch move_base config

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matlabbe
2015-11-27 18:14:13 -05:00
parent a2f7275267
commit 7def303807
1 changed files with 7 additions and 5 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+7 -5
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@@ -45,6 +45,8 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="false"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
@@ -79,7 +81,7 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/base_scan"/>
<remap from="scan" to="/base_scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
@@ -87,9 +89,9 @@
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
@@ -109,7 +111,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>