Commit 9a0179ea authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Merge branch 'melodic_migration' into 'master'

Melodic migration

See merge request !1
parents 6b2cf41e f56fd002
......@@ -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="$(arg ns)/map"/>
......
......@@ -82,13 +82,15 @@
</group>
</group>
<group unless="$(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)">
......
......@@ -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
......
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