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ros-pkg: working navigation with stereo camera only and obstacles avoidance (az3_mapping_stereo_nav.launch)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1924 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-24 21:50:05 +00:00
parent 9e0b143429
commit 858d6fd6cb
5 changed files with 54 additions and 10 deletions
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launch/config/azimut3/base_local_planner_params.yaml
+2 -1
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@@ -3,7 +3,7 @@ TrajectoryPlannerROS:
# Current limits based on AZ3 standalone configuration.
acc_lim_x: 0.75
acc_lim_y: 0.75
acc_lim_th: 4.00
acc_lim_theta: 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
@@ -30,3 +30,4 @@ TrajectoryPlannerROS:
dwa: true
oscillation_reset_dist: 0.05
meter_scoring: true