From 37a6abd81e2df14d5cac07d99fa854f308355918 Mon Sep 17 00:00:00 2001
From: erik <erik@ROS.(none)>
Date: Sun, 25 Aug 2013 21:22:37 +0200
Subject: [PATCH] navigation stack seems to work now

---
 config/base_local_planner_params.yaml | 3 ++-
 config/local_costmap_params.yaml      | 2 +-
 move_base.launch                      | 2 +-
 scripts/robo_explorer.py              | 2 +-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 7d670be..aee88f6 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -10,4 +10,5 @@ TrajectoryPlannerROS:
 
   holonomic_robot: false
 
-  yaw_goal_tolerance: 0.2
+  yaw_goal_tolerance: 0.1
+  meter_scoring: true
diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index 523c9f0..a8a92d5 100644
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -7,4 +7,4 @@ local_costmap:
   rolling_window: true
   width: 4.0
   height: 4.0
-  resolution: 0.5
+  resolution: 0.05
diff --git a/move_base.launch b/move_base.launch
index 6c75098..37874d2 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -2,7 +2,7 @@
 	<master auto="start"/>
 
 	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.5"/>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
 
 	<!-- Run AMCL -->
 	<include file="$(find amcl)/examples/amcl_diff.launch" />
diff --git a/scripts/robo_explorer.py b/scripts/robo_explorer.py
index 22ea4d0..693a8d0 100755
--- a/scripts/robo_explorer.py
+++ b/scripts/robo_explorer.py
@@ -15,7 +15,7 @@ class RoboExplorer:
 		rospy.init_node('robo_explorer')
 
 		self.wheel_dist = 0.188 # 18.8cm
-		self.wheel_size = 0.052*0.5 # 5.2cm; gear ration=0.5
+		self.wheel_size = 0.051*0.5 # 5.1cm; gear ration=0.5
 		self.speed = (0, 0)
 		self.x = 0
 		self.y = 0
-- 
2.39.2