fix simulation

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index a046e6eaf60522b917730cf8d03bd001e3461702..3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,32 +3,38 @@
        <arg name="slam_gmapping" default="false" />
        <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
        <arg name="nomap" default="false" />
-       <arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
+       <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
        <!-- Run AMCL -->
        <group unless="$(arg nomap)">
                <!-- Run the map server -->
-               <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+               <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
                <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
                <param name="amcl/base_frame_id" value="base_footprint" />
        </group>
 
-       <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
+       <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
                <param name="scan" value="scan" />
                <param name="delta" value="0.01" />
-               <param name="map_update_interval" value="30" />
+               <param name="map_update_interval" value="5.0" />
                <param name="linearUpdate" value="0.5" />
                <param name="angularUpdate" value="0.25" />
-               <param name="xmin" value="-1.0"/>
-               <param name="ymin" value="-1.0"/>
-               <param name="xmax" value="1.0"/>
-               <param name="ymax" value="1.0"/>
+               <param name="xmin" value="-5.0"/>
+               <param name="ymin" value="-5.0"/>
+               <param name="xmax" value="5.0"/>
+               <param name="ymax" value="5.0"/>
                <param name="odom_frame" value="odom"/>
+               <param name="maxUrange" value="6.0"/>
+               <param name="maxRange" value="8.0"/>
+               <param name="minimumScore" value="200"/>
+               <param name="linearUpdate" value="0.5"/>
+               <param name="particles" value="80"/>
        </node>
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
                <param name="base_local_planner" value="$(arg base_local_planner)"/>
+               <param name="controller_frequency" value="10.0" />
                <rosparam file="$(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" unless="$(arg nomap)" />