<arg name="global_odom" default="false" />
<arg name="close_to_obstacles" default="false" />
<arg name="nomap" default="false" />
- <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner -->
+ <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner || full_coverage_path_planner/SpiralSTC -->
<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}]"/>
+ <arg name="tool_radius" default="0.175"/>
<!-- Run AMCL -->
<group unless="$(arg nomap)">
<param name="conservative_reset/affected_maps" value="local" />
<param name="make_plan_clear_costmap" value="false" />
<param name="make_plan_add_unreachable_goal" value="false" />
+ <param name="SpiralSTC/robot_radius" value="0.23" />
+ <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)" />
<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" />