updated map

icclab · Mar 26, 2024 · 2be1428 · 2be1428
1 parent 892a3e6
commit 2be1428
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Showing 4 changed files with 9 additions and 2 deletions.
diff --git a/summit_xl_gazebo/launch/default.launch.py b/summit_xl_gazebo/launch/default.launch.py
@@ -75,7 +75,7 @@ def read_params(ld : launch.LaunchDescription):
   ld.add_action(launch.actions.DeclareLaunchArgument(
     name='world_name',
     description='Name of the world to load',
-    default_value='empty',
+    default_value='demo',
   ))
 
   ld.add_action(launch.actions.DeclareLaunchArgument(
@@ -87,7 +87,7 @@ def read_params(ld : launch.LaunchDescription):
   ld.add_action(launch.actions.DeclareLaunchArgument(
         name='robot_xacro',
         description='Robot xacro file path for the robot model',
-        default_value=os.path.join(get_package_share_directory('summit_xl_description'), 'robots', 'summit_xls_icclab.urdf.xacro')
+        default_value=os.path.join(get_package_share_directory('summit_xl_description'), 'robots', 'summit_xls.urdf.xacro')
   ))
 
   ld.add_action(launch.actions.DeclareLaunchArgument(

diff --git a/summit_xl_gazebo/maps/demo.pgm b/summit_xl_gazebo/maps/demo.pgm
diff --git a/summit_xl_gazebo/maps/demo.yaml b/summit_xl_gazebo/maps/demo.yaml
@@ -0,0 +1,7 @@
+image: demo.pgm
+mode: trinary
+resolution: 0.05
+origin: [-7.1, -6.95, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/summit_xl_gazebo/maps/turtlebot3_house.pgm b/summit_xl_gazebo/maps/turtlebot3_house.pgm