added yaml/launch files

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
new file mode 100644 (file)
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 (file)
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 (file)
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 (file)
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 (file)
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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diff --git a/explorer_configuration.launch b/explorer_configuration.launch
new file mode 100644 (file)
index 0000000..f9e4302
--- /dev/null
+++ b/explorer_configuration.launch
@@ -0,0 +1,9 @@
+<launch>
+       <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
+               <param name="odom_param" value="param_value" />
+       </node>
+
+       <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
+               <param name="sensor_param" value="param_value" />
+       </node>
+</launch>

diff --git a/move_base.launch b/move_base.launch
new file mode 100644 (file)
index 0000000..ff0425d
--- /dev/null
+++ b/move_base.launch
@@ -0,0 +1,17 @@
+<launch>
+       <master auto="start"/>
+
+       <!-- Run the map server -->
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.5"/>
+
+       <!-- Run AMCL -->
+       <include file="$(find amcl)/examples/amcl_diff.launch" />
+
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+               <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
+               <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
+               <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
+       </node>
+</launch>