3 <arg name="slam_gmapping" default="false" />
4 <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
5 <arg name="global_odom" default="false" />
6 <arg name="close_to_obstacles" default="false" />
7 <arg name="nomap" default="false" />
8 <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner -->
9 <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS || pose_follower/PoseFollower -->
10 <!-- default: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]" -->
11 <arg name="recovery_behaviors" default="[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]"/>
14 <group unless="$(arg nomap)">
15 <!-- Run the map server -->
16 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
18 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
20 <param name="base_frame_id" value="base_footprint" />
21 <param name="odom_model_type" value="diff-corrected" />
22 <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
23 <param name="odom_alpha1" value="0.001" />
24 <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
25 <param name="odom_alpha2" value="0.001" />
26 <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
27 <param name="odom_alpha3" value="0.04" />
28 <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
29 <param name="odom_alpha4" value="0.001" />
30 <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
31 <param name="laser_max_beams" value="50" />
32 <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
33 <param name="recovery_alpha_slow" value="0.001" />
34 <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
35 <param name="recovery_alpha_fast" value="0.1" />
36 <!-- Minimum allowed number of particles. -->
37 <param name="min_particles" value="100" />
41 <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
43 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
44 <param name="base_local_planner" value="$(arg base_local_planner)"/>
45 <param name="base_global_planner" value="$(arg base_global_planner)"/>
46 <param name="controller_frequency" value="10.0" />
47 <param name="max_planning_retries" value="3" />
48 <param name="clearing_rotation_allowed" value="false" />
49 <param name="GlobalPlanner/default_tolerance" value="0.2" />
50 <param name="conservative_reset/affected_maps" value="local" />
51 <param name="make_plan_clear_costmap" value="false" />
52 <param name="make_plan_add_unreachable_goal" value="false" />
53 <rosparam param="recovery_behaviors" subst_value="True">$(arg recovery_behaviors)</rosparam>
54 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
55 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
56 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
57 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
58 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
59 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
60 <rosparam file="$(find wild_thumper)/config/nav_close_to_obstacles.yaml" command="load" if="$(arg close_to_obstacles)" />
61 <remap from="/cmd_vel" to="move_base/cmd_vel"/>