From: Erik Andresen Date: Sun, 5 Oct 2014 09:14:53 +0000 (+0200) Subject: added move_base, configs, edited urdf X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=93976bad39fb3219fe75e0111b0275e8a0f1b605;p=arm_ros_conn.git added move_base, configs, edited urdf --- diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml new file mode 100644 index 0000000..d046846 --- /dev/null +++ b/config/base_local_planner_params.yaml @@ -0,0 +1,12 @@ +TrajectoryPlannerROS: + max_vel_x: 0.20 + min_vel_x: 0.20 + max_vel_theta: 1.5 + min_vel_theta: 0.8 + min_in_place_vel_theta: 0.8 + + acc_lim_x: 180 + acc_lim_y: 0.0 + acc_lim_th: 620 + + holonomic_robot: false diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml new file mode 100644 index 0000000..ffff33a --- /dev/null +++ b/config/costmap_common_params.yaml @@ -0,0 +1,9 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +#footprint: [[x0, y0], [x1, y1], ... [xn, yn]] +robot_radius: 0.15 +inflation_radius: 0.55 + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: scan, data_type: LaserScan, topic: scan, marking: true, clearing: true} diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml new file mode 100644 index 0000000..01a3c8f --- /dev/null +++ b/config/global_costmap_params.yaml @@ -0,0 +1,5 @@ +global_costmap: + global_frame: /map + robot_base_frame: base_link + update_frequency: 5.0 + static_map: true diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml new file mode 100644 index 0000000..544e1b3 --- /dev/null +++ b/config/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: odom + robot_base_frame: base_link + update_frequency: 5.0 + publish_frequency: 2.0 + static_map: false + rolling_window: true + width: 6.0 + height: 6.0 + resolution: 0.05 diff --git a/config/map.pgm b/config/map.pgm new file mode 100644 index 0000000..3d53230 --- /dev/null +++ b/config/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +400 400 +255 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ÿ \ No newline at end of file diff --git a/move_base.launch b/move_base.launch new file mode 100644 index 0000000..d15b077 --- /dev/null +++ b/move_base.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/urdf/arm.urdf b/urdf/arm.urdf index 24a577b..99e6dac 100644 --- a/urdf/arm.urdf +++ b/urdf/arm.urdf @@ -3,31 +3,19 @@ - + - - - - - - - - - - - - - + - + - + - + @@ -39,7 +27,7 @@ - + @@ -51,7 +39,7 @@ - + @@ -60,163 +48,21 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - + + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +