launch/move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="slam_gmapping" default="false" />
   4         <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
   5         <arg name="global_odom" default="false" />
   6         <arg name="close_to_obstacles" default="false" />
   7         <arg name="nomap" default="false" />
   8         <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner || full_coverage_path_planner/SpiralSTC -->
   9         <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS || pose_follower/PoseFollower -->
  10         <!-- default: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]" -->
  11         <arg name="recovery_behaviors" default="[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]"/>
  12         <arg name="tool_radius" default="0.175"/>
  13
  14         <!-- Run AMCL -->
  15         <group unless="$(arg nomap)">
  16                 <!-- Run the map server -->
  17                 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
  18
  19                 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
  20                 <group ns="amcl">
  21                         <param name="base_frame_id" value="base_footprint" />
  22                         <param name="odom_model_type" value="diff-corrected" />
  23                         <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
  24                         <param name="odom_alpha1" value="0.001" />
  25                         <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
  26                         <param name="odom_alpha2" value="0.001" />
  27                         <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
  28                         <param name="odom_alpha3" value="0.04" />
  29                         <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
  30                         <param name="odom_alpha4" value="0.001" />
  31                         <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
  32                         <param name="laser_max_beams" value="50" />
  33                         <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
  34                         <param name="recovery_alpha_slow" value="0.001" />
  35                         <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
  36                         <param name="recovery_alpha_fast" value="0.1" />
  37                         <!-- Minimum allowed number of particles. -->
  38                         <param name="min_particles" value="100" />
  39                 </group>
  40         </group>
  41
  42         <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
  43
  44         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
  45                 <param name="base_local_planner" value="$(arg base_local_planner)"/>
  46                 <param name="base_global_planner" value="$(arg base_global_planner)"/>
  47                 <param name="controller_frequency" value="10.0" />
  48                 <param name="max_planning_retries" value="3" />
  49                 <param name="clearing_rotation_allowed" value="false" />
  50                 <param name="GlobalPlanner/default_tolerance" value="0.2" />
  51                 <param name="conservative_reset/affected_maps" value="local" />
  52                 <param name="make_plan_clear_costmap" value="false" />
  53                 <param name="make_plan_add_unreachable_goal" value="false" />
  54                 <param name="SpiralSTC/robot_radius" value="0.23" />
  55                 <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)" />
  56                 <rosparam param="recovery_behaviors" subst_value="True">$(arg recovery_behaviors)</rosparam>
  57                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  58                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  59                 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
  60                 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
  61                 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
  62                 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
  63                 <rosparam file="$(find wild_thumper)/config/nav_close_to_obstacles.yaml" command="load" if="$(arg close_to_obstacles)" />
  64                 <remap from="/cmd_vel" to="move_base/cmd_vel"/>
  65         </node>
  66 </launch>