e64852e14b1ff795b45f6d8f17e9f7b780a0f4a8
[ros_wild_thumper.git] / launch / move_base.launch
1 <?xml version="1.0"?>
2 <launch>
3         <arg name="slam_gmapping" default="false" />
4         <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
5         <arg name="global_gps" default="false" />
6         <arg name="global_odom" default="false" />
7         <arg name="nomap" default="false" />
8         <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
9
10         <!-- Run AMCL -->
11         <group unless="$(arg nomap)">
12                 <!-- Run the map server -->
13                 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
14
15                 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
16                 <group ns="amcl">
17                         <param name="base_frame_id" value="base_footprint" />
18                         <param name="odom_model_type" value="diff-corrected" />
19                         <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
20                         <param name="odom_alpha1" value="0.00001" />
21                         <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
22                         <param name="odom_alpha2" value="0.00001" />
23                         <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
24                         <param name="odom_alpha3" value="0.03" />
25                         <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
26                         <param name="odom_alpha4" value="0.001" />
27                         <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
28                         <param name="laser_max_beams" value="50" />
29                         <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
30                         <param name="recovery_alpha_slow" value="0.001" />
31                         <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
32                         <param name="recovery_alpha_fast" value="0.1" />
33                         <!-- Minimum allowed number of particles. -->
34                         <param name="min_particles" value="100" />
35                 </group>
36         </group>
37
38         <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
39
40         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
41                 <param name="base_local_planner" value="$(arg base_local_planner)"/>
42                 <param name="controller_frequency" value="10.0" />
43                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
44                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
45                 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
46                 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
47                 <rosparam file="$(find wild_thumper)/config/global_costmap_params_gps.yaml" command="load" if="$(arg global_gps)" />
48                 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
49                 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
50                 <remap from="/cmd_vel" to="move_base/cmd_vel"/>
51         </node>
52 </launch>