From 59f39a51a977ca93173e1074db0e7381a3d24e0d Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 16 Jul 2017 11:22:42 +0200
Subject: [PATCH] Use gps instead utm as gps frame
---
...stmap_params_utm.yaml => global_costmap_params_gps.yaml} | 2 +-
launch/move_base.launch | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
rename config/{global_costmap_params_utm.yaml => global_costmap_params_gps.yaml} (93%)
diff --git a/config/global_costmap_params_utm.yaml b/config/global_costmap_params_gps.yaml
similarity index 93%
rename from config/global_costmap_params_utm.yaml
rename to config/global_costmap_params_gps.yaml
index 8ecf0b5..fa54a35 100644
--- a/config/global_costmap_params_utm.yaml
+++ b/config/global_costmap_params_gps.yaml
@@ -1,6 +1,6 @@
# only differences to config/global_costmap_params.yaml
global_costmap:
- global_frame: utm
+ global_frame: gps
rolling_window: true
width: 200.0
height: 200.0
diff --git a/launch/move_base.launch b/launch/move_base.launch
index 69073a4..e64852e 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,7 +2,7 @@
<launch>
<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
- <arg name="global_utm" default="false" />
+ <arg name="global_gps" default="false" />
<arg name="global_odom" default="false" />
<arg name="nomap" default="false" />
<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
@@ -43,8 +43,8 @@
<rosparam file="$(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="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odm)" />
- <rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
+ <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
+ <rosparam file="$(find wild_thumper)/config/global_costmap_params_gps.yaml" command="load" if="$(arg global_gps)" />
<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"/>
--
2.39.5