From d0b6e90560ecbe91cad96caae7f552e798b17d1f Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Mon, 10 Feb 2025 11:33:12 +0100 Subject: [PATCH] Default robot ref frame as base_footprint --- src/iri_nav_module/dyn_params.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/iri_nav_module/dyn_params.py b/src/iri_nav_module/dyn_params.py index 9e11851..394d9c1 100644 --- a/src/iri_nav_module/dyn_params.py +++ b/src/iri_nav_module/dyn_params.py @@ -18,18 +18,18 @@ def add_nav_module_params(gen,name): add_module_params(new_group,prefix+"module") move_base_action=add_module_action_params(new_group,prefix+"move_base") - move_base_action.add(prefix+"move_base_goal_frame_id",str_t, 0, "Reference frame of the position goals","map") - move_base_action.add(prefix+"move_base_global_frame_id",str_t, 0, "Global reference frame of the TF","map") - move_base_action.add(prefix+"move_base_robot_frame_id",str_t, 0, "Main reference frame of the robot","map") - move_base_action.add(prefix+"move_base_cancel_prev", bool_t, 0, "Cancel previous action", True) + move_base_action.add(prefix+"move_base_goal_frame_id",str_t, 0, "Reference frame of the position goals","map") + move_base_action.add(prefix+"move_base_global_frame_id",str_t, 0, "Global reference frame of the TF", "map") + move_base_action.add(prefix+"move_base_robot_frame_id",str_t, 0, "Main reference frame of the robot", "base_footprint") + move_base_action.add(prefix+"move_base_cancel_prev", bool_t, 0, "Cancel previous action", True) - odom.add(prefix+"odom_watchdog_time_s", double_t, 0, "Maximum time between odom messages",1, 0.01, 50) + odom.add(prefix+"odom_watchdog_time_s", double_t, 0, "Maximum time between odom messages",1, 0.01, 50) - tf.add(prefix+"tf_timeout_time_s", double_t, 0, "Maximum time to wait for transform",5, 0.01, 50) + tf.add(prefix+"tf_timeout_time_s", double_t, 0, "Maximum time to wait for transform",5, 0.01, 50) costmap=add_module_service_params(new_group,prefix+"clear_costmap") - costmap.add(prefix+"clear_costmap_enable_auto_clear",bool_t, 0, "Periodically clear the costmaps",False) - costmap.add(prefix+"clear_costmap_auto_clear_rate_hz",double_t, 0, "Clear costmaps period", 0.1, 0.01, 1.0) + costmap.add(prefix+"clear_costmap_enable_auto_clear",bool_t, 0, "Periodically clear the costmaps",False) + costmap.add(prefix+"clear_costmap_auto_clear_rate_hz",double_t, 0, "Clear costmaps period", 0.1, 0.01, 1.0) make_plan=add_module_service_params(new_group,prefix+"make_plan") -- GitLab