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Commit d0b6e905 authored by Fernando Herrero's avatar Fernando Herrero
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Default robot ref frame as base_footprint

parent 31284ed3
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src/iri_nav_module/dyn_params.py
+ 8
− 8
View file @ d0b6e905
...@@ -18,18 +18,18 @@ def add_nav_module_params(gen,name): ...@@ -18,18 +18,18 @@ def add_nav_module_params(gen,name):
add_module_params(new_group,prefix+"module") add_module_params(new_group,prefix+"module")
move_base_action=add_module_action_params(new_group,prefix+"move_base") 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_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_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_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) 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_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_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_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") make_plan=add_module_service_params(new_group,prefix+"make_plan")
......
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