diff --git a/launch/nav.launch b/launch/nav.launch
index 8da7adc5b23ec7f749ed5902c61f931757c128eb..4a52f3c94a4184612dc72a9dfd81c8c9e00803f8 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -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 $(arg scan_topic)"/>
</group>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 24e9e7b5ea90e3f9ef7d7d0c52c3caad5a092531..23c83659bb3c8e77d275d3fa192724581f934aed 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -3,7 +3,6 @@
<launch>
<arg name="rviz" default="true"/>
-
<arg name="ns" default="helena"/>
<arg name="path" default="$(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>
diff --git a/package.xml b/package.xml
index 0058bbab86caf3eaf4ca781d80d92ffdc4337f5e..d6c0cb8896fb01b982971e1126790a0df0221a19 100644
--- a/package.xml
+++ b/package.xml
@@ -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 -->
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 0557afac7502e60b1431b2ec4e23250e3c9967f8..17a8afb580dd99cc2ba79551a18c25ee2a84e8f2 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -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,
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 9b8b3df495e875e24b899804e18f2cf6fbd3db7c..9f3073dfb8c20454dee2126184c94ee614ad99f7 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -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
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index e36f7e118ecc7cc1c8149d9785dc8119f9765a3e..bc967e1119d6353a229021a84430a961d12dc18a 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -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