update navigation, change param, namespace #29
+72
−100
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
nyxrobotics
requested changes
May 20, 2024
Comment on lines
4
to
8
| <!-- <arg name="map_info_file" default="/home/gisen/map/M20210525165127330/map_info.yaml"/> | ||
| <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> | ||
| <rosparam command="delete" param="map_info/building_id"/> | ||
| <rosparam command="delete" param="map_info/floor_id"/> | ||
| <group ns="navigation"> | ||
|
|
||
| <!--[EDIT] robot name--> | ||
| <arg name="robot" default="cube_petit"/> | ||
| <!--[EDIT] topic name of /scan--> | ||
| <arg name="scan" default="/pacecat/scan_filtered"/> | ||
| <!--[EDIT] topic name of /odom--> | ||
| <arg name="odom" default="/cube_petit/diff_drive_controller/odom"/> | ||
|
|
||
| <!-- [EDIT] map file name--> | ||
| <!-- <arg name="map_file" default="$(find cube_petit)/map/daikaigisitu/map.yaml"/> --> | ||
|
|
||
| <!-- <arg name="map_file" default="$(find cube_petit_gazebo)/map/floor_eight/map.yaml"/> --> | ||
| <!-- <arg name="map_file" default="$(find cube_petit_navigation)/map/airi_v2/map.yaml"/> --> | ||
| <arg name="map_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/> | ||
|
|
||
| <!-- [EDIT] keepout map file name if you need --> | ||
| <arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml" /> | ||
| <arg name="use_keepout" default="true" /> | ||
| <param name="map_server/map_file" value="$(arg map_file)" /> | ||
|
|
||
|
|
||
|
|
||
|
|
||
|
|
||
| <!-- If "costmap_image = true" launch costmap_to_image node --> | ||
| <arg name="costmap_image" default="false" /> | ||
|
|
||
| <!-- Navigation parameter files --> | ||
| <arg name="move_base_include" default="$(find cube_petit_navigation)/launch/include/move_base.launch.xml"/> | ||
| <arg name="amcl_include" default="$(find cube_petit_navigation)/launch/include/amcl.launch.xml"/> | ||
|
|
||
|
|
||
| <!-- serve up a map --> | ||
| <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/> | ||
|
|
||
| <!-- serve up a map with keepout zones --> | ||
| <group if="$(arg use_keepout)" > | ||
| <rosparam command="delete" param="map_info/floor_id"/> --> | ||
| <!-- <group ns="navigation"> --> |
Comment on lines
30
to
31
| <!-- <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> --> | ||
| <!-- <node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 map odom 100" /> --> |
| <param name="map_server/map_file" value="$(arg map_file)"/> | ||
| <!-- <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> --> | ||
| <!-- <node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 map odom 100" /> --> | ||
| <!-- If "costmap_image = true" launch costmap_to_image node --> |
Comment on lines
50
to
54
| <!-- <group ns="rviz_topics_relay"> | ||
| <node name="clicked_point_relay" pkg="topic_tools" type="relay" args="/clicked_point /clicked_point"/> | ||
| <node name="initialpose_relay" pkg="topic_tools" type="relay" args="/initialpose /initialpose"/> | ||
| <node name="simple_goal_relay" pkg="topic_tools" type="relay" args="/move_base_simple/goal /move_base_simple/goal"/> | ||
| </group> --> |
Comment on lines
62
to
64
| <!-- <remap from="move_base_simple/goal" to="/move_base_simple/goal"/> | ||
| <remap from="initial_pose" to="/initial_pose"/> | ||
| <remap from="clicked_point" to="/clicked_point"/> --> |
| <remap from="initial_pose" to="/initial_pose"/> | ||
| <remap from="clicked_point" to="/clicked_point"/> --> | ||
| </include> | ||
| <!-- </group> --> |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Summary
navitaionのlaunch、odomのパラメータのアップデート、map追加を行いました
Test