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Commit ce04cb20 authored by Fernando Herrero's avatar Fernando Herrero
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Fix launch files

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launch/nav.launch
+ 2
− 2
View file @ ce04cb20
......@@ -71,12 +71,12 @@
<node name="front_laser_relay"
pkg="topic_tools"
type="relay"
args="front_hokuyo_scan $(arg scan_topic)"/>
args="sensors/front_scan $(arg scan_topic)"/>
<node name="rear_laser_relay"
pkg="topic_tools"
type="relay"
args="rear_hokuyo_scan $(arg scan_topic)"/>
args="sensors/rear_scan $(arg scan_topic)"/>
</group>
......
launch/nav_mapping.launch
+ 9
− 10
View file @ ce04cb20
......@@ -3,7 +3,6 @@
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="path" default="$(find iri_helena_rosnav)"/>
<arg name="map_frame_id" default="map"/>
......@@ -18,20 +17,20 @@
<arg name="use_map_server" default="false"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(arg path)/params/helena_amcl.yaml"/>
<arg name="amcl_config" default="$(arg path)/params/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="true"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/params/helena_gmapping.yaml"/>
<arg name="resolution" default="0.2"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_scan"/>
<arg name="gmapping_config" default="$(arg path)/params/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/helena_mux.yaml"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="rrt_planner"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
......@@ -72,12 +71,12 @@
<node name="front_laser_relay"
pkg="topic_tools"
type="relay"
args="front_hokuyo_scan $(arg scan_topic)"/>
args="sensors/front_scan $(arg scan_topic)"/>
<node name="rear_laser_relay"
pkg="topic_tools"
type="relay"
args="rear_hokuyo_scan $(arg scan_topic)"/>
args="sensors/rear_scan $(arg scan_topic)"/>
</group>
......@@ -85,7 +84,7 @@
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(find iri_helena_rosnav)/rviz/$(arg ns).rviz">
args="-d $(arg path)/rviz/$(arg ns).rviz">
</node>
</launch>
package.xml
+ 7
− 2
View file @ ce04cb20
......@@ -7,13 +7,13 @@
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fherrero@todo.todo">fherrero</maintainer>
<maintainer email="fherrero@iri.upc.edu">fherrero</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<license>LGPL</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
......@@ -49,6 +49,11 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>iri_rosnav</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>rviz</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
......
params/costmap/common_params.yaml
+ 2
− 2
View file @ ce04cb20
......@@ -26,7 +26,7 @@ obstacle_layer:
front_laser: {
sensor_frame: /helena/front_hokuyo_scan_frame,
data_type: LaserScan,
topic: /helena/front_hokuyo_scan,
topic: /helena/sensors/front_scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
......@@ -40,7 +40,7 @@ obstacle_layer:
rear_laser: {
sensor_frame: /helena/rear_hokuyo_scan_frame,
data_type: LaserScan,
topic: /helena/rear_hokuyo_scan,
topic: /helena/sensors/rear_scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
......
params/local_planner/dwa_params.yaml
+ 2
− 2
View file @ ce04cb20
......@@ -6,11 +6,11 @@ DWAPlannerROS:
max_trans_vel: 0.5
min_trans_vel: 0.1
max_vel_x: 0.5
min_vel_x: -0.5
min_vel_x: -0.2
max_vel_y: 0.0
min_vel_y: 0.0
max_rot_vel: 2.0
min_rot_vel: 0.2
min_rot_vel: -2.0
acc_lim_theta: 3.0
acc_lim_x: 1.0
acc_lim_y: 0.0
......
rviz/helena.rviz
+ 87
− 7
View file @ ce04cb20
......@@ -4,10 +4,14 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Sensors1
- /Sensors1/Odometry1/Shape1
- /Nav1
- /Nav1/AMCL_localization1
- /Nav1/DWA_local_planner1
- /Nav1/GlobalPlanner1
Splitter Ratio: 0.5
Tree Height: 633
- Class: rviz/Selection
......@@ -328,7 +332,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/front_hokuyo_scan
Topic: /helena/sensors/front_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
......@@ -358,7 +362,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/rear_hokuyo_scan
Topic: /helena/sensors/rear_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
......@@ -367,6 +371,86 @@ Visualization Manager:
Name: Sensors
- Class: rviz/Group
Displays:
- Class: rviz/Group
Displays:
- Alpha: 0.5
Arrow Length: 0.0500000007
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 85; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: particles_PoseArray
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /helena/particlecloud
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: amcl_PoseWithCovariance
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /helena/amcl_pose
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/PoseWithCovariance
Color: 255; 25; 0
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: initial_PoseWithCovariance
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /helena/initialpose
Unreliable: false
Value: true
Enabled: true
Name: AMCL_localization
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
......@@ -590,15 +674,11 @@ Visualization Manager:
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
- Attractors: ~
Class: rviz_sfm_plugins/SetAttractor2D
- Class: rviz_sfm_plugins/SetRepulsor2D
Repulsors: ~
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 17.6234169
Distance: 24.7596321
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
......
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