X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db;hp=47c23694173cc5818eb6e64947753427b95dfc14;hb=47414c87ea933baa2f6b16d30acaca48b7636af2;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 47c2369..3c1880d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,32 +2,45 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
-
-	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+	<arg name="nomap" default="false" />
+	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
 	<!-- Run AMCL -->
-	<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-	<param name="amcl/base_frame_id" value="base_footprint" />
+	<group unless="$(arg nomap)">
+		<!-- Run the map server -->
+		<node name="map_server" pkg="map_server" type="map_server" args="$(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" unless="$(arg slam_gmapping)">
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+		<param name="base_local_planner" value="$(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="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
+		<rosparam file="$(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/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"/>
 	</node>
 </launch>