X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=70974dc1d11bceec5d02268de3af7becf65002c1;hp=55869892142fc79c96398b5cd4447336485f079d;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=d8926faf31887ca0fb7f62ae9b01b9a7459dc2c5

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 5586989..70974dc 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,8 +3,13 @@
 	<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)">
@@ -38,13 +43,24 @@
 
 	<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="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
 		<rosparam file="$(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>