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updated az3 nav move_base parameters

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matlabbe
2015-03-20 19:45:57 -04:00
parent 6bde46aaac
commit 9eee16891e
5 changed files with 20 additions and 15 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+6 -3
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@@ -17,7 +17,8 @@
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
<param name="grid_eroded" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="mapData" to="mapData"/>
@@ -28,7 +29,7 @@
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="proj_map" to="/map"/>
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
@@ -43,7 +44,8 @@
<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="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -82,6 +84,7 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<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_laser.yaml" command="load" />