X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=70974dc1d11bceec5d02268de3af7becf65002c1;hp=102f98dadb2639e63b42d40eadbc31c4e7a0f826;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=c60a40bfbf207333a4562bb3d9cc80dff8ec1ebd

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 102f98d..70974dc 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,8 +2,14 @@
 <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="close_to_obstacles" 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 -->
+	<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="$(arg nomap)">
@@ -11,31 +17,50 @@
 		<node name="map_server" pkg="map_server" type="map_server" args="$(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 ns="amcl">
+			<param name="base_frame_id" value="base_footprint" />
+			<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="0.001" />
+			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
+			<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="0.04" />
+			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
+			<param name="odom_alpha4" value="0.001" />
+			<!-- 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="0.001" />
+			<!-- 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>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
-		<param name="scan" value="scan" />
-		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="30" />
-		<param name="linearUpdate" value="0.5" />
-		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-5.0"/>
-		<param name="ymin" value="-5.0"/>
-		<param name="xmax" value="5.0"/>
-		<param name="ymax" value="5.0"/>
-		<param name="odom_frame" value="odom"/>
-	</node>
+	<include file="$(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="$(arg base_local_planner)"/>
+		<param name="base_global_planner" value="$(arg base_global_planner)"/>
 		<param name="controller_frequency" value="10.0" />
+		<param name="max_planning_retries" value="3" />
+		<param name="clearing_rotation_allowed" value="false" />
+		<param name="GlobalPlanner/default_tolerance" value="0.2" />
+		<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" />
-		<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="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
+		<rosparam file="$(find wild_thumper)/config/nav_close_to_obstacles.yaml" command="load" if="$(arg close_to_obstacles)" />
 		<remap from="/cmd_vel" to="move_base/cmd_vel"/>
 	</node>
 </launch>