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Navigation: updated az3_mapping_robot_nav.launch

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matlabbe
2015-03-05 16:41:15 -05:00
parent 3318e0adf2
commit e9240a74a5
2 changed files with 8 additions and 4 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+7 -3
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@@ -28,10 +28,12 @@
<remap from="goal_out" to="current_goal"/> <remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/> <remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/> <remap from="proj_map" to="/map"/>
<param name="use_action_for_goal" type="bool" value="true"/> <param name="use_action_for_goal" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<param name="cloud_decimation" type="int" value="1"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
@@ -42,10 +44,12 @@
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/> <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="8"/> <param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Mem/LocalSpaceLinksKeptInWM" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -62,7 +66,7 @@
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/Force2D" type="string" value="true"/> <param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccBow/MaxDepth" type="string" value="4"/> <param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <param name="LccBow/InlierDistance" type="string" value="0.1"/>
launch/azimut3/config/costmap_common_params.yaml
+1 -1
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@@ -3,7 +3,7 @@ raytrace_range: 3.0
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]] footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.03 footprint_padding: 0.03
#robot_radius: ir_of_robot #robot_radius: ir_of_robot
inflation_radius: 0.60 inflation_radius: 0.55
transform_tolerance: 1 transform_tolerance: 1
controller_patience: 2.0 controller_patience: 2.0