Merge branch 'melodic_migration' into 'master'

Melodic migration

See merge request !1

launch/include/map_server.launch

@@ -3,7 +3,7 @@
 <launch>
 
   <arg name="ns"           default="robot"/>
-  <arg name="map_path"     default="$(find iri_maps)/maps/"/>
+  <arg name="map_path"     default="$(find iri_maps)/maps"/>
   <arg name="map_name"     default="empty"/>
   <arg name="map_frame_id" default="map"/>
   <arg name="map_topic"    default="$(arg ns)/map"/>

launch/nav.launch

@@ -82,13 +82,15 @@
     </group>
   </group>
 
-  <group unless="$(arg use_map)">
-    <node pkg="tf" 
-          type="static_transform_publisher" 
-          name="static_tf_map"
-          ns="$(arg ns)"
-          args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
-    </node>
+  <group unless="$(arg use_fake_loc)">
+    <group unless="$(arg use_map)">
+      <node pkg="tf" 
+            type="static_transform_publisher" 
+            name="static_tf_map"
+            ns="$(arg ns)"
+            args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
+      </node>
+    </group>
   </group>
 
   <group if="$(arg use_fake_loc)"> 

params/local_planner/dwa_params.yaml

@@ -3,19 +3,19 @@ latch_xy_goal_tolerance: true
 
 DWAPlannerROS:
 # robot configuration parameters
-  max_trans_vel: 0.5
-  min_trans_vel: 0.1
+  max_vel_trans: 0.5
+  min_vel_trans: 0.1
   max_vel_x: 0.5
   min_vel_x: -0.5
   max_vel_y: 0.0 
   min_vel_y: 0.0 
-  max_rot_vel:  0.5
-  min_rot_vel:  0.0 
+  max_vel_theta:  0.5
+  min_vel_theta:  0.0 
   acc_lim_theta: 3.0
   acc_lim_x: 1.0
   acc_lim_y: 0.0 
-  acc_limit_trans: 1.0
-  rot_stopped_vel: 0.1
+  acc_lim_trans: 1.0
+  theta_stopped_vel: 0.1
   trans_stopped_vel: 0.1
 
 # goal tolerance parameters