update navigation, change param, namespace #29
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,29 +1,25 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- -*- mode: XML -*- --> | ||
| <launch> | ||
| <!-- load cube_petit.xacro --> | ||
| <arg name="model" default="$(find cube_petit_description)/urdf/cube_petit_v2.xacro"/> | ||
| <param name="robot_description" command="$(find xacro)/xacro $(arg model) --inorder"/> | ||
| <!-- [EDIT] topic name for scan --> | ||
| <arg name="scan" default="/pacecat/scan_filtered"/> | ||
| <!-- launch gmapping node and make map --> | ||
| <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" required="true" output="screen"> | ||
| <remap from="scan" to="$(arg scan)"/> | ||
| <param name="linearUpdate" value="0.1"/> | ||
| <param name="angularUpdate" value="0.125"/> | ||
| <param name="throttle_scans" value="1"/> | ||
| <param name="maxUrange" value="20.0"/> | ||
| <param name="maxRange" value="20.0"/> | ||
| <param name="delta" value="0.1"/> | ||
| </node> | ||
| <!-- map convert to image node --> | ||
| <param name="gmapping/map_image/full/compressed/format" value="png"/> | ||
| <node name="map_to_image" pkg="hector_compressed_map_transport" type="map_to_image_node" output="screen"> | ||
| <remap from="pose" to="robot_pose"/> | ||
| </node> | ||
| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,79 +1,69 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <!-- Set and remove parameter for web console. --> | ||
| <!-- <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_info_file" default="(find cube_petit)/map/daikaigisitu/map.yaml"/> | ||
| <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> | ||
| <!-- <arg name="map_file" default="$(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"/> | ||
| <!-- <arg name="map_file" default="$(find cube_petit_navigation)/map/maker_fair/map.yaml"/> --> | ||
| <!-- <arg name="map_file" default="/home/gisen/map_24/map2/map.yaml"/> --> | ||
| <!-- [EDIT] keepout map file name if you need --> | ||
| <arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/> | ||
| <!-- <arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/maker_fair/map.yaml" /> --> | ||
| <!-- <arg name="map_keepout_file" default="/home/gisen/map_24/map2/map.yaml"/> --> | ||
| <arg name="use_keepout" default="true"/> | ||
| <param name="map_server/map_file" value="$(arg map_file)"/> | ||
| <!-- <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> --> | ||
| <!-- <node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 map odom 100" /> --> | ||
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| <!-- If "costmap_image = true" launch costmap_to_image node --> | ||
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| <arg name="costmap_image" default="false"/> | ||
| <!-- Navigation parameter files --> | ||
| <arg name="move_base_include" default="$(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="$(arg use_keepout)"> | ||
| <node name="map_keepout_server" pkg="map_server" type="map_server" args="$(arg map_keepout_file)"> | ||
| <remap from="map" to="map_keepout"/> | ||
| <remap from="static_map" to="static_map_keepout"/> | ||
| </node> | ||
| </group> | ||
| <!-- localize the robot --> | ||
| <include file="$(arg amcl_include)"> | ||
| <arg name="scan_topic" value="$(arg scan)"/> | ||
| </include> | ||
| <!-- <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> --> | ||
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| <!-- move the robot --> | ||
| <include file="$(arg move_base_include)"> | ||
| <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout"/> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <!-- [EDIT] topic name of /odom --> | ||
| <arg name="odom_topic" value="$(arg odom)"/> | ||
| <arg name="costmap_image" value="$(arg costmap_image)"/> | ||
| <!-- <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"/> --> | ||
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| </include> | ||
| <!-- </group> --> | ||
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| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| image: map.pgm | ||
| resolution: 0.100000 | ||
| origin: [-100.000000, -100.000000, 0.000000] | ||
| negate: 0 | ||
| occupied_thresh: 0.65 | ||
| free_thresh: 0.196 | ||
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消す
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削除します