navigation stack tuning

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 55869892142fc79c96398b5cd4447336485f079d..33c5636f3cf9ffdb09eeb780b7ccc04440c5fe16 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,8 +3,12 @@
        <arg name="slam_gmapping" default="false" />
        <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
        <arg name="global_odom" default="false" />
+       <arg name="close_to_obstacles" default="false" />
        <arg name="nomap" default="false" />
-       <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
+       <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner -->
+       <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS || pose_follower/PoseFollower -->
+       <!-- default: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]" -->
+       <arg name="recovery_behaviors" default="[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]"/>
 
        <!-- Run AMCL -->
        <group unless="$(arg nomap)">
@@ -38,13 +42,22 @@
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
                <param name="base_local_planner" value="$(arg base_local_planner)"/>
+               <param name="base_global_planner" value="$(arg base_global_planner)"/>
                <param name="controller_frequency" value="10.0" />
+               <param name="max_planning_retries" value="3" />
+               <param name="clearing_rotation_allowed" value="false" />
+               <param name="GlobalPlanner/default_tolerance" value="0.2" />
+               <param name="conservative_reset/affected_maps" value="local" />
+               <param name="make_plan_clear_costmap" value="false" />
+               <param name="make_plan_add_unreachable_goal" value="false" />
+               <rosparam param="recovery_behaviors" subst_value="True">$(arg recovery_behaviors)</rosparam>
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
                <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
                <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
                <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
                <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
                <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
+               <rosparam file="$(find wild_thumper)/config/nav_close_to_obstacles.yaml" command="load" if="$(arg close_to_obstacles)" />
                <remap from="/cmd_vel" to="move_base/cmd_vel"/>
        </node>
 </launch>