X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=69073a4b44a239d2d6de174903c3b53c14f1c991;hp=c1320cb074dc75a9660c32d8d46420e08003fd2a;hb=e3caec74101b9cc2870d05d01180d550df24e325;hpb=dfa22bff12a5c6e0685b3e79e681ccc1d0bd1fa1

diff --git a/launch/move_base.launch b/launch/move_base.launch
index c1320cb..69073a4 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,6 +2,8 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
+	<arg name="global_utm" default="false" />
+	<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 -->
 
@@ -19,9 +21,9 @@
 			<!-- 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. -->
@@ -41,7 +43,8 @@
 		<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_odom.yaml" command="load" if="$(arg nomap)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odm)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
 		<rosparam file="$(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"/>