update costmap parameters

jsk-ros-pkg · Oct 19, 2019 · 3ddd397 · 3ddd397
1 parent 8aadb69
commit 3ddd397
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Showing 2 changed files with 12 additions and 7 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -183,15 +183,17 @@
 
     <rosparam ns="move_base/global_costmap">
       inflater:
-        inflation_radius: 0.30 # 0.7
-        cost_scaling_factor: 10.0 # 10.0
+        inflation_radius: 3.0 # 0.7
+        cost_scaling_factor: 3.0 # 10.0
+      footprint_padding: 0.05
     </rosparam>
     <rosparam ns="move_base/local_costmap">
       inflater:
         inflation_radius: 3.0 # 0.7
         cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value
       # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
       update_frequency: 10.0
+      footprint_padding: 0.05
     </rosparam>
     <rosparam ns="move_base">
       base_local_planner: base_local_planner/TrajectoryPlannerROS

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
@@ -76,12 +76,15 @@
     <rosparam file="$(find fetch_navigation)/config/fetch/costmap_common.yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find fetch_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find fetch_navigation)/config/fetch/costmap_local.yaml" command="load" ns="local_costmap" />
-    <rosparam>
-      local_costmap:
-        # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
-        update_frequency: 10.0
-    </rosparam>
   </node>
+  <rosparam ns="safe_teleop_base/local_costmap">
+    inflater:
+      inflation_radius: 3.0 # 0.7
+      cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value
+    # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
+    update_frequency: 10.0
+    footprint_padding: 0.05
+  </rosparam>
 
   <node name="safe_tilt_head" pkg="jsk_fetch_startup" type="safe_tilt_head.py" />