From 9043db68cceda13132c17ebc024dee1d06f803a3 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 11 Nov 2020 16:10:33 +0100
Subject: [PATCH] Updated the configuration parameters. Removed the "/" from
the frame_id's.
---
cfg/TiagoNavClient.cfg | 2 +-
config/tiago_nav_module_default.yaml | 6 +++---
launch/tiago_nav_client_sim.launch | 9 +++++----
3 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/cfg/TiagoNavClient.cfg b/cfg/TiagoNavClient.cfg
index b5fc86e..cc49d7b 100755
--- a/cfg/TiagoNavClient.cfg
+++ b/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)
diff --git a/config/tiago_nav_module_default.yaml b/config/tiago_nav_module_default.yaml
index 54718f2..31c4698 100644
--- a/config/tiago_nav_module_default.yaml
+++ b/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
diff --git a/launch/tiago_nav_client_sim.launch b/launch/tiago_nav_client_sim.launch
index 7b32600..22db9fc 100644
--- a/launch/tiago_nav_client_sim.launch
+++ b/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)"/>
--
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