diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch
index c6412b43fd9e585803563d9635f25411b69fac80..d2a73c83b4d5c2453102459d3be176ef102bc1cc 100644
--- a/launch/include/move_base.launch
+++ b/launch/include/move_base.launch
@@ -3,7 +3,7 @@
<launch>
<arg name="ns" default="robot"/>
- <arg name="path" default="$(find iri_rosnav)"/>
+ <arg name="path" default="$(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"/>
@@ -26,15 +26,15 @@
<remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
<remap from="odom" to="$(arg odom_topic)" />
- <rosparam file="$(arg path)/params/move_base_params.yaml" command="load" />
- <rosparam file="$(arg path)/params/local_planner/$(arg local_planner)_params.yaml" command="load" />
- <rosparam file="$(arg path)/params/global_planner/$(arg global_planner)_params.yaml" command="load" />
+ <rosparam file="$(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="$(arg path)/params/costmap/common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(arg path)/params/costmap/local_params.yaml" command="load" ns="local_costmap"/>
+ <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="$(arg path)/params/costmap/common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(arg path)/params/costmap/$(arg costmap_path)/global_params.yaml" command="load" ns="global_costmap"/>
+ <rosparam file="$(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"/>
</node>
diff --git a/launch/nav.launch b/launch/nav.launch
index 61c02847ba1decee98b7be59be5107ca53a65cd3..918e07f29b413797af40bcf9379aee77d5956b2e 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -2,7 +2,9 @@
<!-- -->
<launch>
<arg name="ns" default="robot"/>
- <arg name="path" default="$(find iri_rosnav)"/>
+ <arg name="pkg" default="iri_rosnav"/>
+ <arg name="path" default="$(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"/>
@@ -10,23 +12,23 @@
<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)/scan"/>
+ <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)/params/amcl.yaml"/>
+ <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)/params/gmapping.yaml"/>
+ <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="$(arg path)/params/mux.yaml"/>
+ <arg name="cmd_vel_mux_config" default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
@@ -78,16 +80,14 @@
</include>
</group>
</group>
-
- <group unless="$(arg use_map)">
+ <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) $(arg odom_frame_id) 100">
</node>
-
</group>
<group if="$(arg use_fake_loc)">
@@ -119,7 +119,7 @@
<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 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)"/>
diff --git a/params/amcl.yaml b/params/amcl.yaml
index 7049474c11b95251ef462ecf0bd5645a406d4dfc..15ab9b160b244e108d955e242fb3af0d45b13dde 100644
--- a/params/amcl.yaml
+++ b/params/amcl.yaml
@@ -36,10 +36,10 @@ laser_lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
-odom_model_type: "diff"
-odom_alpha1: 0.2
-odom_alpha2: 0.2
-odom_alpha3: 0.2
-odom_alpha4: 0.2
-odom_alpha5: 0.2
+odom_model_type: "diff-corrected"
+odom_alpha1: 0.005
+odom_alpha2: 0.005
+odom_alpha3: 0.01
+odom_alpha4: 0.005
+odom_alpha5: 0.003
tf_broadcast: true
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 38a3b40d27657a0ad2e3ed491db4ba60c90969d2..2d58b071e7927184681f14fa43f91e51e0691e52 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -50,5 +50,5 @@ DWAPlannerROS:
#not in dynamic reconfigure
publish_traj_pc: false
- #global_frame_id: /robot/base_footprint
+ #global_frame_id: /robot/odom
publish_cost_grid_pc: false