range sensor layer: Use inflate_cone=0 to fix range sensor clearing

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index f2fd7330fcbd6d14dc28ab36f0f5cc832fbf315e..9463a0c8cad8972f98b891ad35aa32c30efaf446 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 -->
 
@@ -19,15 +20,15 @@
                        <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
                        <param name="odom_alpha2" value="0.00001" />
                        <!-- 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="0.03" />
                        <!-- 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="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="0.01" />
+                       <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="0.2" />
+                       <param name="recovery_alpha_fast" value="0.1" />
                        <!-- Minimum allowed number of particles. -->
                        <param name="min_particles" value="100" />
                </group>
@@ -35,13 +36,13 @@
 
        <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"/>