From 852ab483efdade3e2980b641818aa9ccc93a5597 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Fri, 2 Jul 2021 16:36:50 +0200 Subject: [PATCH] Add mapping launch and update mapping yaml parameters --- launch/nav_mapping.launch | 56 +++++++++++++++++++++++++++++++++++++++ params/gmapping.yaml | 28 +++++++++++++------- 2 files changed, 74 insertions(+), 10 deletions(-) create mode 100644 launch/nav_mapping.launch diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch new file mode 100644 index 0000000..e231bd5 --- /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/gmapping.yaml b/params/gmapping.yaml index d7c5f34..8df1df3 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: 0.0 #0.0 srr: 0.1 srt: 0.2 str: 0.1 stt: 0.2 -linearUpdate: 0.5 -angularUpdate: 0.5 -temporalUpdate: 10.0 +linearUpdate: 0.1 #1.0 +angularUpdate: 0.05 #0.5 +temporalUpdate: 1.0 #-1.0 resampleThreshold: 0.5 -particles: 80 - +particles: 80 #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 -- GitLab