From d4fcf4ee7161b7d4357ec01aced82e6cfbbead6e Mon Sep 17 00:00:00 2001 From: erik Date: Sat, 24 Aug 2013 11:33:06 +0200 Subject: [PATCH] added yaml/launch files --- config/base_local_planner_params.yaml | 11 +++++++++++ config/costmap_common_params.yaml | 9 +++++++++ config/global_costmap_params.yaml | 5 +++++ config/local_costmap_params.yaml | 10 ++++++++++ config/map.pgm | 5 +++++ explorer_configuration.launch | 9 +++++++++ move_base.launch | 17 +++++++++++++++++ 7 files changed, 66 insertions(+) create mode 100644 config/base_local_planner_params.yaml create mode 100644 config/costmap_common_params.yaml create mode 100644 config/global_costmap_params.yaml create mode 100644 config/local_costmap_params.yaml create mode 100644 config/map.pgm create mode 100644 explorer_configuration.launch create mode 100644 move_base.launch diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml new file mode 100644 index 0000000..a24e4b8 --- /dev/null +++ b/config/base_local_planner_params.yaml @@ -0,0 +1,11 @@ +TrajectoryPlannerROS: + min_vel_x: 0.04 + max_vel_x: 0.14 + min_in_place_rotational_vel: 0.5 + max_rotational_vel: 1.5 + + acc_lim_x: 0.14 + acc_lim_y: 0.0 + acc_lim_th: 1.5 + + holonomic_robot: false diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml new file mode 100644 index 0000000..0224ad9 --- /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: 0.105 +inflation_radius: 0.55 + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: base_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..523c9f0 --- /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: 4.0 + height: 4.0 + resolution: 0.5 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/explorer_configuration.launch b/explorer_configuration.launch new file mode 100644 index 0000000..f9e4302 --- /dev/null +++ b/explorer_configuration.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/move_base.launch b/move_base.launch new file mode 100644 index 0000000..ff0425d --- /dev/null +++ b/move_base.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + -- 2.39.5