X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=launch%2Fmove_base.launch;h=c68413a02804cd4909f035c94f50e95a4a5e1897;hb=6c223bf6af2bfcff0279d0c56a32ce2e5e7d9e04;hp=30f7ff1118caaa7e93aa8b51df49f12c7630f3f9;hpb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 30f7ff1..c68413a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,38 +2,47 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
+	<arg name="global_odom" default="false" />
 	<arg name="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
 		<!-- Run the map server -->
-		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-		<param name="amcl/base_frame_id" value="base_footprint" />
+		<group ns="amcl">
+			<param name="base_frame_id" value="base_footprint" />
+			<param name="odom_model_type" value="diff-corrected" />
+			<!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
+			<param name="odom_alpha1" value="0.00001" />
+			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
+			<param name="odom_alpha2" value="0.00001" />
+			<!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
+			<param name="odom_alpha3" value="0.04" />
+			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
+			<param name="odom_alpha4" value="0.001" />
+			<!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
+			<param name="laser_max_beams" value="50" />
+			<!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
+			<param name="recovery_alpha_slow" value="0.001" />
+			<!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
+			<param name="recovery_alpha_fast" value="0.1" />
+			<!-- Minimum allowed number of particles. -->
+			<param name="min_particles" value="100" />
+		</group>
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
-		<param name="scan" value="scan" />
-		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="30" />
-		<param name="linearUpdate" value="0.5" />
-		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-5.0"/>
-		<param name="ymin" value="-5.0"/>
-		<param name="xmax" value="5.0"/>
-		<param name="ymax" value="5.0"/>
-		<param name="odom_frame" value="odom"/>
-	</node>
+	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
-	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>
 		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
 		<rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
 		<rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
 		<remap from="/cmd_vel" to="move_base/cmd_vel"/>