launch/move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="slam_gmapping" default="false" />
   4         <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
   5         <arg name="nomap" default="false" />
   6         <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
   7
   8         <!-- Run AMCL -->
   9         <group unless="$(arg nomap)">
  10                 <!-- Run the map server -->
  11                 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
  12
  13                 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
  14                 <group ns="amcl">
  15                         <param name="base_frame_id" value="base_footprint" />
  16                         <param name="odom_model_type" value="diff-corrected" />
  17                         <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
  18                         <param name="odom_alpha1" value="0.00001" />
  19                         <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
  20                         <param name="odom_alpha2" value="0.00001" />
  21                         <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
  22                         <param name="odom_alpha3" value="0.01" />
  23                         <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
  24                         <param name="odom_alpha4" value="0.03" />
  25                         <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
  26                         <param name="laser_max_beams" value="50" />
  27                         <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
  28                         <param name="recovery_alpha_slow" value="0.01" />
  29                         <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
  30                         <param name="recovery_alpha_fast" value="0.2" />
  31                         <!-- Minimum allowed number of particles. -->
  32                         <param name="min_particles" value="100" />
  33                 </group>
  34         </group>
  35
  36         <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
  37
  38         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  39                 <param name="base_local_planner" value="$(arg base_local_planner)"/>
  40                 <param name="controller_frequency" value="10.0" />
  41                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  42                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  43                 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
  44                 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
  45                 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
  46                 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
  47                 <remap from="/cmd_vel" to="move_base/cmd_vel"/>
  48         </node>
  49 </launch>