Updated the configuration parameters.

Removed the "/" from the frame_id's.

cfg/TiagoNavClient.cfg

@@ -50,7 +50,7 @@ move_base.add("mb_y_pos",          double_t,  0,                               "
 move_base.add("mb_xy_tol",         double_t,  0,                               "Target XY tolerance",                     -1.0,     -1.0,  10.0)
 move_base.add("mb_yaw",            double_t,  0,                               "Target Yaw angle",                        0.0,      -3.14159,3.14159)
 move_base.add("mb_yaw_tol",        double_t,  0,                               "Target Yaw tolerance",                    -1.0,     -1.0,   1.0)
-move_base.add("mb_frame_id",       str_t,     0,                               "Target pose frame identifier",            "/base_link")
+move_base.add("mb_frame_id",       str_t,     0,                               "Target pose frame identifier",            "map")
 
 map.add("map_name",                str_t,     0,                               "Name of the map to use",                  "iri_map")
 map.add("map_change",              bool_t,    0,                               "Update the desired map",                  False)

config/tiago_nav_module_default.yaml

@@ -3,7 +3,7 @@ nav_module_rate_hz: 1.0
 move_base_max_retries: 1
 move_base_feedback_watchdog_time_s: 1.0
 move_base_enable_watchdog: True
-move_base_timeout_s: 1.0
+move_base_timeout_s: 100.0
 move_base_enable_timeout: True
 move_base_frame_id: "map"
 move_base_enabled: True
@@ -12,14 +12,14 @@ move_base_cancel_prev: True
 move_poi_max_retries: 1
 move_poi_feedback_watchdog_time_s: 1.0
 move_poi_enable_watchdog: True
-move_poi_timeout_s: 1.0
+move_poi_timeout_s: 100.0
 move_poi_enable_timeout: True
 move_poi_enabled: True
 
 move_waypoint_max_retries: 1
 move_waypoint_feedback_watchdog_time_s: 1.0
 move_waypoint_enable_watchdog: True
-move_waypoint_timeout_s: 1.0
+move_waypoint_timeout_s: 100.0
 move_waypoint_enable_timeout: True
 move_waypoint_enabled: True
 

launch/tiago_nav_client_sim.launch

@@ -13,15 +13,16 @@
   <arg name="set_op_mode_service" default="/pal_navigation_sm"/>
   <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/>
 
-  <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch"/>
-
-  <include file="$(find tiago_laser_sensors)/launch/rgbd_cloud_laser.launch"/>
+  <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch">
+    <arg name="public_sim" value="true" />
+    <arg name="robot" value="steel" />
+  </include>
 
   <include file="$(find tiago_nav_module)/launch/tiago_nav_client.launch">
     <arg name="node_name"              value="$(arg node_name)" />
     <arg name="output"                 value="$(arg output)" />
     <arg name="launch_prefix"          value="$(arg launch_prefix)" />
-    <arg name="config_file"            value="$(arg_config_file)" />
+    <arg name="config_file"            value="$(arg config_file)" />
     <arg name="move_base_action"       value="$(arg move_base_action)"/>
     <arg name="move_poi_action"        value="$(arg move_poi_action)"/>
     <arg name="move_waypoint_action"   value="$(arg move_waypoint_action)"/>