From 069330483527204952c04f74a6b784676ab49c44 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 19 Oct 2014 01:09:52 +0200
Subject: [PATCH] navigation stack tuning

---
 arm.launch                        | 3 ---
 config/costmap_common_params.yaml | 8 +++++---
 config/global_costmap_params.yaml | 4 ++++
 config/local_costmap_params.yaml  | 3 +++
 move_base.launch                  | 3 +++
 5 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/arm.launch b/arm.launch
index 03255e2..d63bd6a 100644
--- a/arm.launch
+++ b/arm.launch
@@ -7,7 +7,4 @@
 		<remap from="camera_info" to="/camera/depth/camera_info"/>
 		<param name="output_frame_id" value="/scan" />
 	</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/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index ffff33a..8decd3b 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,9 +1,11 @@
 obstacle_range: 2.5
 raytrace_range: 3.0
-#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
-robot_radius: 0.15
+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
+transform_tolerance: 0.5
 
-observation_sources: laser_scan_sensor
+obstacle_layer:
+  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
index 01a3c8f..483f9fa 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -3,3 +3,7 @@ global_costmap:
   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
index 544e1b3..3ee2d1e 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -8,3 +8,6 @@ local_costmap:
   width: 6.0
   height: 6.0
   resolution: 0.05
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/move_base.launch b/move_base.launch
index d15b077..8d46da1 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -14,4 +14,7 @@
 		<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>
-- 
2.39.5