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Merge pull request #15 from SoftServeSAG/F#4_move_base_configuring
F#4 move base configuring
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| Original file line number | Diff line number | Diff line change |
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| robot_base_frame: base_link | ||
| min_frontier_size: 0.75 | ||
| costmap_topic: map | ||
| costmap_updates_topic: map_updates | ||
| visualize: true | ||
| planner_frequency: 0.33 | ||
| progress_timeout: 30.0 | ||
| potential_scale: 3.0 | ||
| orientation_scale: 0.0 | ||
| gain_scale": 1.0 | ||
| transform_tolerance: 0.3 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| <launch> | ||
| <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | ||
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| <arg name="cmd_vel_topic" default="/cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
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| <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> | ||
| <arg name="model" value="$(arg model)"/> | ||
| </include> | ||
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| <include file="$(find velocity_topic_watchdog)/launch/velocity_topic_watchdog.launch"> | ||
| </include> | ||
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| <!--GAZEBO--> | ||
| <!--<arg name="world_name" default="turtlebot3_house"/>--> | ||
| <!--<arg name="world_name" default="turtlebot3_stage_3"/>--> | ||
| <arg name="world_name" default="ss_hq4"/> | ||
| <!--<arg name="world_name" default="office"/>--> | ||
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| <arg name="x_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/> | ||
| <arg name="y_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/> | ||
| <arg name="z_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/> | ||
| <arg name="x_pos" default="-3.0" if="$(eval world_name == 'turtlebot3_house')"/> | ||
| <arg name="y_pos" default="1.0" if="$(eval world_name == 'turtlebot3_house')"/> | ||
| <arg name="z_pos" default="0.0" if="$(eval world_name == 'turtlebot3_house')"/> | ||
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| <!--http://answers.gazebosim.org/question/16076/running-gazebo-on-docker-affects-simulation-speed-meshes-and-world-objects/--> | ||
| <include file="$(find gazebo_ros)/launch/empty_world.launch" > | ||
| <arg name="world_name" value="$(find explore_stack)/worlds/p_worlds/$(arg world_name).world"/> | ||
| <arg name="paused" value="false"/> | ||
| <arg name="use_sim_time" value="true"/> | ||
| <arg name="gui" value="false"/> | ||
| <arg name="headless" value="false"/> | ||
| <arg name="debug" value="false"/> | ||
| </include> | ||
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| <param name="robot_description" | ||
| command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> | ||
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| <node name="spawn_urdf" | ||
| pkg="gazebo_ros" | ||
| type="spawn_model" | ||
| args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" /> | ||
| <!--GAZEBO--> | ||
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| <node name="rviz" | ||
| pkg="rviz" | ||
| type="rviz" | ||
| args="-d $(find explore_stack)/rviz/explore_lite_tb3.rviz" | ||
| /> | ||
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| <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
| <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> | ||
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| <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/> | ||
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| <include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch"> | ||
| <arg name="model" value="$(arg model)"/> | ||
| <arg name="configuration_basename" value="$(arg configuration_basename)"/> | ||
| </include> | ||
| <!--/ SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map --> | ||
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| <!-- move_base --> | ||
| <include file="$(find explore_stack)/launch/move_base.launch"> | ||
| <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | ||
| <arg name="cmd_vel_topic" default="/cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
| </include> | ||
| <!-- /move_base --> | ||
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| <include file="$(find explore_stack)/launch/explore_lite_revised.launch"> | ||
| <!--TODO parameters tuning if needed--> | ||
| <!--TODO name and dir for map save--> | ||
| </include> | ||
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,15 @@ | ||
| <launch> | ||
| <node pkg="explore_lite_revised" | ||
| type="explore_lite_revised" | ||
| name="explore_lite_revised" | ||
| respawn="false" | ||
| output="screen" | ||
| launch-prefix="xterm -geometry 93x31+100+350 -e"> | ||
| <!--todo manage terminal postion a little bit better--> | ||
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| <rosparam file="$(find explore_lite_revised)/param/explore_lite_revised.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/explore_lite_revised.yaml" command="load" /> | ||
| </node> | ||
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| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,39 @@ | ||
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| <launch> | ||
| <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> | ||
| <arg name="cmd_vel_topic" default="/cmd_vel" /> | ||
| <arg name="odom_topic" default="odom" /> | ||
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| <node pkg="move_base" | ||
| type="move_base" | ||
| respawn="false" | ||
| name="move_base" | ||
| output="screen" | ||
| launch-prefix="xterm -e"> | ||
| <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> | ||
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| <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/move_base.yaml" command="load" /> | ||
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| <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> | ||
| <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> | ||
| <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> | ||
| <rosparam file="$(find explore_stack)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> | ||
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| <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/local_costmap_params.yaml" command="load" /> | ||
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| <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/global_costmap_params.yaml" command="load" /> | ||
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| <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> | ||
| <rosparam file="$(find explore_stack)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> | ||
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| <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> | ||
| <remap from="odom" to="$(arg odom_topic)"/> | ||
| </node> | ||
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| </launch> |
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