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Commit cfe4f635 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added some arguments for the following items: 

  * move base params file name
  * common costmap params file name
  * local costmap params file name
  * global costmap params file name
parent f4d1985a
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launch/include/gmapping.launch
+ 1
− 1
View file @ cfe4f635
......@@ -31,4 +31,4 @@
</group>
</launch>
\ No newline at end of file
</launch>
launch/include/move_base.launch
+ 23
− 19
View file @ cfe4f635
......@@ -2,18 +2,22 @@
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="path" default="$(find iri_rosnav)/params"/>
<arg name="use_map" default="true"/>
<arg name="map_topic" default="/$(arg ns)/map)"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="costmap_path" value="map" if="$(arg use_map)"/>
<arg name="costmap_path" value="no_map" unless="$(arg use_map)"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="ns" default="robot"/>
<arg name="path" default="$(find iri_rosnav)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="use_map" default="true"/>
<arg name="map_topic" default="/$(arg ns)/map)"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="costmap_path" value="map" if="$(arg use_map)"/>
<arg name="costmap_path" value="no_map" unless="$(arg use_map)"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
......@@ -26,15 +30,15 @@
<remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
<remap from="odom" to="$(arg odom_topic)" />
<rosparam file="$(arg path)/move_base_params.yaml" command="load" />
<rosparam file="$(arg path)/local_planner/$(arg local_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/global_planner/$(arg global_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/$(arg move_base_params)" command="load" />
<rosparam file="$(arg path)/local_planner/$(arg local_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/global_planner/$(arg global_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/costmap/common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(arg path)/costmap/local_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(arg path)/costmap/$(arg costmap_common_params)" command="load" ns="local_costmap" />
<rosparam file="$(arg path)/costmap/$(arg costmap_local_params)" command="load" ns="local_costmap"/>
<rosparam file="$(arg path)/costmap/common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(arg path)/costmap/$(arg costmap_path)/global_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(arg path)/costmap/$(arg costmap_common_params)" command="load" ns="global_costmap" />
<rosparam file="$(arg path)/costmap/$(arg costmap_path)/$(arg costmap_global_params)" command="load" ns="global_costmap"/>
</node>
......
launch/nav.launch
+ 65
− 72
View file @ cfe4f635
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="pkg" default="iri_rosnav"/>
<arg name="path" default="$(eval find(arg('pkg')))"/>
<arg name="param_subpath" default="params"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="false"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="ns" default="robot"/>
<arg name="path" default="$(find iri_rosnav)/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="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group if="$(arg use_map)">
<group if="$(arg use_map_server)">
......@@ -67,16 +66,16 @@
<group if="$(arg use_gmapping)">
<include file="$(find iri_rosnav)/launch/include/gmapping.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="config" value="$(arg gmapping_config)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="config" value="$(arg gmapping_config)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="gmapping_scan_topic" value="$(arg gmapping_scan_topic)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
</group>
......@@ -92,42 +91,36 @@
<group if="$(arg use_fake_loc)">
<include file="$(find iri_rosnav)/launch/include/fake_loc.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="ground_truth_topic" value="$(arg odom_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_cmd_vel_mux)">
<include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="config" value="$(arg cmd_vel_mux_config)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_move_base)">
<include file="$(find iri_rosnav)/launch/include/move_base.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)/$(arg param_subpath)"/>
<arg name="use_map" value="$(arg use_map_server)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<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)" />
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(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="use_map" value="$(arg use_map_server)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<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>
</group>
......
params/costmap/map/global_params.yaml
+ 1
− 1
View file @ cfe4f635
......@@ -18,4 +18,4 @@ static_layer:
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
trinary_costmap: true
\ No newline at end of file
trinary_costmap: true
params/costmap/no_map/global_params.yaml
+ 1
− 1
View file @ cfe4f635
......@@ -12,4 +12,4 @@ origin_y: 0.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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