From dfa22bff12a5c6e0685b3e79e681ccc1d0bd1fa1 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 10 Jun 2017 18:08:31 +0200
Subject: [PATCH] no duplicate options in global_costmap_params_odom.yaml
---
config/global_costmap_params_odom.yaml | 5 ++---
config/wt_node.cfg | 2 +-
launch/move_base.launch | 2 +-
3 files changed, 4 insertions(+), 5 deletions(-)
diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
index 6f3b2e8..0cb31e5 100644
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_odom.yaml
@@ -1,12 +1,11 @@
+# only differences to config/global_costmap_params.yaml
global_costmap:
global_frame: odom
- robot_base_frame: base_footprint
- update_frequency: 5.0
- static_map: true
rolling_window: true
width: 100.0
height: 100.0
resolution: 1.0
+ resolution: 0.05
plugins:
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 15fb37c..725c565 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -5,7 +5,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("range_sensor_clip", bool_t, 0, "Clip range sensor values to max range", True)
-gen.add("range_sensor_max", double_t, 0, "Range sensor max range", 0.5, 0.4, 4)
+gen.add("range_sensor_max", double_t, 0, "Range sensor max range", 0.5, 0.04, 4)
gen.add("odom_covar_xy", double_t, 0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 1.00, 1e-6, 6.2832)
gen.add("rollover_protect", bool_t, 0, "Enable motor rollover protection on pitch", True)
diff --git a/launch/move_base.launch b/launch/move_base.launch
index 9c6755d..c1320cb 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -40,7 +40,7 @@
<param name="controller_frequency" value="10.0" />
<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="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
+ <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="$(arg nomap)" />
<rosparam file="$(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