diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e231bd5b6318fec5737e1bcede37d7ed01d6c89a
--- /dev/null
+++ b/launch/nav_mapping.launch
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+ <arg name="name" default="turtlebot"/>
+ <arg name="path" default="$(find iri_turtlebot_launch)/params"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_frame_id" default="map"/>
+ <arg name="resolution" default="0.1"/>
+ <arg name="local_planner" default="dwa"/>
+ <arg name="global_planner" default="global_planner"/>
+ <arg name="rviz" default="true"/>
+ <arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_rosnav)/launch/nav.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="move_base_params" value="$(arg move_base_params)"/>
+ <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+ <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
+ <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+ <arg name="map_frame_id" value="map"/>
+ <arg name="odom_frame_id" value="odom"/>
+ <arg name="base_frame_id" value="base_footprint"/>
+ <arg name="map_topic" value="/$(arg name)/map"/>
+ <arg name="map_service" value="/$(arg name)/static_map"/>
+ <arg name="odom_topic" value="/odom"/>
+ <arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
+ <arg name="scan_topic" value="/scan"/>
+ <arg name="use_map" value="true"/>
+ <arg name="use_map_server" value="false"/>
+ <arg name="map_name" value="empty"/>
+ <arg name="use_amcl" value="false"/>
+ <arg name="use_fake_loc" value="false"/>
+ <arg name="use_gmapping" value="true"/>
+ <arg name="gmapping_scan_topic" value="/scan"/>
+ <arg name="gmapping_config" value="$(find iri_turtlebot_launch)/params/gmapping.yaml"/>
+ <arg name="resolution" value="$(arg resolution)"/>
+ <arg name="local_planner" value="$(arg local_planner)"/>
+ <arg name="global_planner" value="$(arg global_planner)"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ if="$(arg rviz)"
+ args="-d $(arg rviz_file)">
+ </node>
+
+</launch>
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index fb961cc73f2411d9cbbfd67a8f039e302f942d5d..d132f55bfd98956b25acabe58d4aa7bf15baf20b 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -32,14 +32,14 @@ obstacle_layer:
observation_sources: scan bump
scan:
data_type: LaserScan
- topic: scan
+ topic: /scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
- topic: mobile_base/sensors/bumper_pointcloud
+ topic: /mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
diff --git a/params/gmapping.yaml b/params/gmapping.yaml
index d7c5f34befbeeeabcd17b68ef8a1cae8d1141d43..a6f91b6961d007fcf3c817303558f01940805143 100644
--- a/params/gmapping.yaml
+++ b/params/gmapping.yaml
@@ -1,5 +1,11 @@
-map_update_interval: 5.0
-maxUrange: 29.0
+#name: value #default_value
+
+throttle_scans: 1
+#base_frame: base_link
+#map_frame: map
+#odom_frame: odom
+map_update_interval: 1.0 #5.0
+maxUrange: 7.8 #80.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
@@ -8,23 +14,25 @@ iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
+minimumScore: 50.0 #0.0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
-linearUpdate: 0.5
-angularUpdate: 0.5
-temporalUpdate: 10.0
+linearUpdate: 0.05 #1.0
+angularUpdate: 0.01 #0.5
+temporalUpdate: 1.0 #-1.0
resampleThreshold: 0.5
-particles: 80
-
+particles: 200 #30
xmin: -5.0
ymin: -5.0
xmax: 5.0
ymax: 5.0
-
-delta: 0.1
+delta: 0.05 #0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
-lasamplestep: 0.005
\ No newline at end of file
+lasamplestep: 0.005
+transform_publish_period: 0.05
+occ_thresh: 0.25
+maxRange: 8.5
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 509483f1b699335fdafabad2e58f8288c1351091..56c9fb262b5eab39c0d2b6a9f12962d821d72ceb 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -18,7 +18,7 @@ DWAPlannerROS:
# are non-negligible and small in place rotational velocities will be created.
max_vel_theta: 5.0 # choose slightly less than the base's capability
- min_vel_theta: 0.4 # this is the min angular velocity when there is negligible translational velocity
+ min_vel_theta: 0.1 # this is the min angular velocity when there is negligible translational velocity
theta_stopped_vel: 0.4
acc_lim_x: 1.0 # maximum is theoretically 2.0, but we
@@ -39,7 +39,7 @@ DWAPlannerROS:
# Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
- occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
+ occdist_scale: 0.1 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint