X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=c68413a02804cd4909f035c94f50e95a4a5e1897;hp=592cd42542a3db74b3bc4cd1e02d74451ef0fd7f;hb=3f3329b34715a239358868351317d27ea17bd423;hpb=b6c2b16643b132e613dada8516641cd0086c81df

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 592cd42..c68413a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,6 +2,7 @@
 <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="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
@@ -13,34 +14,35 @@
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<group ns="amcl">
 			<param name="base_frame_id" value="base_footprint" />
-			<param name="laser_max_range" value="3.5" />
 			<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="0.0" />
+			<param name="odom_alpha1" value="0.00001" />
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
-			<param name="odom_alpha2" value="0.0" />
+			<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="0.04" />
 			<!-- 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="60" />
+			<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>
 
 	<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="$(arg base_local_planner)"/>
 		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(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" />
 		<remap from="/cmd_vel" to="move_base/cmd_vel"/>