From 2d9ab7d6996ef2d96507642099f5250f47256704 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 8 Jul 2017 18:24:04 +0200
Subject: [PATCH] Readd global_costmap_params_odom.yaml

---
 config/global_costmap_params_odom.yaml | 10 ++++++++++
 launch/move_base.launch                |  3 ++-
 2 files changed, 12 insertions(+), 1 deletion(-)
 create mode 100644 config/global_costmap_params_odom.yaml

diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
new file mode 100644
index 0000000..60d391a
--- /dev/null
+++ b/config/global_costmap_params_odom.yaml
@@ -0,0 +1,10 @@
+# only differences to config/global_costmap_params.yaml
+global_costmap:
+  global_frame: odom
+  rolling_window: true
+  width: 100.0
+  height: 100.0
+  resolution: 0.05
+  plugins:
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/launch/move_base.launch b/launch/move_base.launch
index 9508c32..69073a4 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,6 +3,7 @@
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
 	<arg name="global_utm" default="false" />
+	<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 -->
 
@@ -42,7 +43,7 @@
 		<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="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params_nomap.yaml" command="load" if="$(arg nomap)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odm)" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
 		<rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
 		<rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
-- 
2.39.5