Commit 2184ace9 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adapted to share mapping launch and config files

parent baa1ae26
map_update_interval: 5.0
maxUrange: 5.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 10
lsigma: 0.075
ogain: 3.0
lskip: 0
minimumScore: 0
srr: 0.001
srt: 0.002
str: 0.001
stt: 0.002
linearUpdate: 0.05
angularUpdate: 0.1
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 800
xmin: -5.0
ymin: -5.0
xmax: 5.0
ymax: 5.0
delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
maxRange: 6.0
......@@ -2,18 +2,21 @@
<!-- -->
<launch>
<arg name="name" default="adc_car"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/>
<arg name="resolution" default="0.05"/>
<arg name="gazebo_gui" default="True"/>
<arg name="name" default="adc_car"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_frame_id" default="map"/>
<arg name="resolution" default="0.05"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
<arg name="opendrive_file_name" default="sample"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
<arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
......@@ -33,7 +36,7 @@
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="true"/>
<arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
<arg name="gmapping_config" value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/>
<arg name="gmapping_config" value="$(find iri_adc_launch)/config/adc_rosnav/gmapping.yaml"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment