X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=70974dc1d11bceec5d02268de3af7becf65002c1;hp=33c5636f3cf9ffdb09eeb780b7ccc04440c5fe16;hb=99dd1e1236d58a4ee9c93de7124afd83b2f2c141;hpb=a1ad723335b2f3e28a5a69cf8f60993951f3d6cf

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 33c5636..70974dc 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -5,10 +5,11 @@
 	<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="$(arg nomap)">
@@ -50,6 +51,8 @@
 		<param name="conservative_reset/affected_maps" value="local" />
 		<param name="make_plan_clear_costmap" value="false" />
 		<param name="make_plan_add_unreachable_goal" value="false" />
+		<param name="SpiralSTC/robot_radius" value="0.23" />
+		<param name="SpiralSTC/tool_radius" value="$(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" />