diff --git a/launch/include/gmapping.launch b/launch/include/gmapping.launch
index d367b7290d09513ffb8c7612ca385fe897169d6c..7d65c4e1da991aff42781d678905dda1511cccef 100644
--- a/launch/include/gmapping.launch
+++ b/launch/include/gmapping.launch
@@ -31,4 +31,4 @@
</group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch
index d2a73c83b4d5c2453102459d3be176ef102bc1cc..b75d411c41fedf1f28c1fcc393dcbe8e6780ec88 100644
--- a/launch/include/move_base.launch
+++ b/launch/include/move_base.launch
@@ -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>
diff --git a/launch/nav.launch b/launch/nav.launch
index 918e07f29b413797af40bcf9379aee77d5956b2e..a570c34f89854712c7ea3b6e3c15757fd84f0184 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -1,39 +1,38 @@
<?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>
diff --git a/params/costmap/map/global_params.yaml b/params/costmap/map/global_params.yaml
index aef60d4da3e1ae19918181efd4328115bd1283bf..5c61d57d53dc8174b44b800d5ed0273a241765e8 100644
--- a/params/costmap/map/global_params.yaml
+++ b/params/costmap/map/global_params.yaml
@@ -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
diff --git a/params/costmap/no_map/global_params.yaml b/params/costmap/no_map/global_params.yaml
index 48192a06f87fddeb211da13d8d051203e40bb62a..9d5b1dccc6fc2826a508133c4fa5da8fa8216d71 100644
--- a/params/costmap/no_map/global_params.yaml
+++ b/params/costmap/no_map/global_params.yaml
@@ -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"}