From: Erik Andresen <erik@vontaene.de>
Date: Sat, 17 Oct 2015 10:48:31 +0000 (+0200)
Subject: removed move_base
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=94ec2a02bbbb2e60719a6be979cc78b3ee66439e;p=arm_ros_conn.git
removed move_base
---
diff --git a/arm.launch b/arm.launch
index 877df4c..9e120c7 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,21 +1,4 @@
<?xml version="1.0"?>
<launch>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
-
- <include file="$(find openni2_launch)/launch/openni2.launch">
- <arg name="rgb_processing" value="false" />
- <arg name="debayer_processing" value="false" />
- <arg name="ir_processing" value="false" />
- <arg name="depth_processing" value="false" />
- <arg name="depth_registered_processing" value="false" />
- <arg name="disparity_processing" value="false" />
- <arg name="disparity_registered_processing" value="false" />
- <arg name="hw_registered_processing" value="false" />
- <arg name="sw_registered_processing" value="false" />
- </include>
-
- <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
- <remap from="image" to="/camera/depth/image_raw"/>
- <remap from="camera_info" to="/camera/depth/camera_info"/>
- </node>
</launch>
diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
deleted file mode 100644
index 0db0a91..0000000
--- a/config/base_local_planner_params.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-TrajectoryPlannerROS:
- max_vel_x: 0.50
- min_vel_x: 0.10
- max_vel_theta: 1.0
- min_vel_theta: -1.0
- min_in_place_vel_theta: 0.4
-
- acc_lim_x: 2.5
- acc_lim_y: 2.5
- acc_lim_theta: 3.2
-
- holonomic_robot: false
- meter_scoring: true
diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
deleted file mode 100644
index 3810429..0000000
--- a/config/costmap_common_params.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
-#robot_radius: 0.15
-inflation_radius: 0.55
-
-obstacle_layer:
- observation_sources: laser_scan_sensor
- obstacle_range: 2.5
- raytrace_range: 3.0
- laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
deleted file mode 100644
index 483f9fa..0000000
--- a/config/global_costmap_params.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-global_costmap:
- global_frame: /map
- robot_base_frame: base_link
- update_frequency: 5.0
- static_map: true
- plugins:
- - {name: static_layer, type: 'costmap_2d::StaticLayer'}
- - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
deleted file mode 100644
index e554765..0000000
--- a/config/local_costmap_params.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-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: 10.0
- height: 10.0
- resolution: 0.01
- plugins:
- - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/map.png b/config/map.png
deleted file mode 100644
index edbf44f..0000000
Binary files a/config/map.png and /dev/null differ
diff --git a/move_base.launch b/move_base.launch
deleted file mode 100644
index 1ef9f37..0000000
--- a/move_base.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<launch>
- <!-- Run the map server -->
- <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
-
- <!-- Run AMCL -->
- <include file="$(find amcl)/examples/amcl_diff.launch" />
-
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <param name="controller_frequency" value="10.0" />
- <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
- </node>
-
- <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-</launch>
diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
deleted file mode 100644
index dd7b0f1..0000000
--- a/urdf/arm.urdf.xacro
+++ /dev/null
@@ -1,74 +0,0 @@
-<?xml version="1.0"?>
-<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
-
- <link name="base_link">
- <visual>
- <geometry>
- <box size="0.30 0.22 0.015"/>
- </geometry>
- <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0.0 0.0 0.0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_wheel">
- <visual>
- <geometry>
- <cylinder radius="0.025" length="0.002"/>
- </geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="aft_left_wheel">
- <visual>
- <geometry>
- <cylinder radius="0.025" length="0.002"/>
- </geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="aft_right_wheel">
- <visual>
- <geometry>
- <cylinder radius="0.025" length="0.002"/>
- </geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <xacro:asus_camera name="camera" parent="base_link">
- <origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
- </xacro:asus_camera>
-
- <joint name="front_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="front_wheel"/>
- <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
- </joint>
-
- <joint name="aft_left_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="aft_left_wheel"/>
- <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
- </joint>
-
- <joint name="aft_right_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="aft_right_wheel"/>
- <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
- </joint>
-</robot>