dwm1000:

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 592cd42542a3db74b3bc4cd1e02d74451ef0fd7f..55869892142fc79c96398b5cd4447336485f079d 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,6 +2,7 @@
 <launch>
        <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="nomap" default="false" />
        <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
@@ -13,34 +14,35 @@
                <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
                <group ns="amcl">
                        <param name="base_frame_id" value="base_footprint" />
-                       <param name="laser_max_range" value="3.5" />
                        <param name="odom_model_type" value="diff-corrected" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
-                       <param name="odom_alpha1" value="0.0" />
+                       <param name="odom_alpha1" value="0.001" />
                        <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-                       <param name="odom_alpha2" value="0.0" />
+                       <param name="odom_alpha2" value="0.001" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
-                       <param name="odom_alpha3" value="0.01" />
+                       <param name="odom_alpha3" value="0.04" />
                        <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
-                       <param name="odom_alpha4" value="0.03" />
+                       <param name="odom_alpha4" value="0.001" />
                        <!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
-                       <param name="laser_max_beams" value="60" />
+                       <param name="laser_max_beams" value="50" />
                        <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
                        <param name="recovery_alpha_slow" value="0.001" />
                        <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
                        <param name="recovery_alpha_fast" value="0.1" />
+                       <!-- Minimum allowed number of particles. -->
+                       <param name="min_particles" value="100" />
                </group>
        </group>
 
        <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
-       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
                <param name="base_local_planner" value="$(arg base_local_planner)"/>
                <param name="controller_frequency" value="10.0" />
                <rosparam file="$(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="$(arg nomap)" />
-               <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
+               <rosparam file="$(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" />
                <remap from="/cmd_vel" to="move_base/cmd_vel"/>