X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=70974dc1d11bceec5d02268de3af7becf65002c1;hp=f2fd7330fcbd6d14dc28ab36f0f5cc832fbf315e;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=f512e0181dc9792221d34bf169473a8e1933bff1

diff --git a/launch/move_base.launch b/launch/move_base.launch
index f2fd733..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)">
@@ -15,19 +21,19 @@
 			<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="0.00001" />
+			<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="0.00001" />
+			<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="0.01" />
+			<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="0.03" />
+			<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. -->
-			<param name="recovery_alpha_slow" value="0.01" />
+			<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="0.2" />
+			<param name="recovery_alpha_fast" value="0.1" />
 			<!-- Minimum allowed number of particles. -->
 			<param name="min_particles" value="100" />
 		</group>
@@ -35,15 +41,26 @@
 
 	<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>