From: Erik Andresen <erik@vontaene.de>
Date: Sun, 23 Oct 2016 17:53:06 +0000 (+0200)
Subject: frontier exploration fixes
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=e5d50b6babe986a2dcd4eff47a9600a6014e5d96

frontier exploration fixes
---

diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 0f5bc43..6414e9b 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -1,7 +1,8 @@
-#must match incoming static map
+# must match incoming static map
 global_frame: map
 robot_base_frame: base_footprint
 update_frequency: 5.0
+publish_frequency: 5.0
 resolution: 0.01
 
 rolling_window: false
@@ -10,12 +11,18 @@ track_unknown_space: true
 plugins: 
 - {name: static_layer, type: 'costmap_2d::StaticLayer'}
 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
-#Can disable sensor layer if gmapping is fast enough to update scans
+# Can disable sensor layer if gmapping is fast enough to update scans
 - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
 - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
+static_layer:
+  # Can pull data from gmapping, map_server or a non-rolling costmap
+  map_topic: /map
+  # map_topic: move_base/global_costmap/costmap
+  subscribe_to_updates: true
+
 explore_boundary:
-  resize_to_boundary: true
+  resize_to_boundary: false
   frontier_travel_point: middle
-  #set to false for gmapping, true if re-exploring a known area
+  # set to false for gmapping, true if re-exploring a known area
   explore_clear_space: true
diff --git a/launch/exploration.launch b/launch/exploration.launch
index 0c81ea0..4df3aee 100644
--- a/launch/exploration.launch
+++ b/launch/exploration.launch
@@ -2,10 +2,10 @@
 <launch>
 	<node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
 
-	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
+	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
 		<param name="frequency" type="double" value="2.0"/>
 		<!-- Should be less than sensor range -->
-		<param name="goal_aliasing" type="double" value="2.0"/>
+		<param name="goal_aliasing" type="double" value="1.0"/>
 
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="explore_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
diff --git a/launch/move_base.launch b/launch/move_base.launch
index 2ee4b5a..30f7ff1 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -20,10 +20,10 @@
 		<param name="map_update_interval" value="30" />
 		<param name="linearUpdate" value="0.5" />
 		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-1.0"/>
-		<param name="ymin" value="-1.0"/>
-		<param name="xmax" value="1.0"/>
-		<param name="ymax" value="1.0"/>
+		<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>
 
diff --git a/scripts/forward_tty.sh b/scripts/forward_tty.sh
index 61d6cf9..0ddb447 100755
--- a/scripts/forward_tty.sh
+++ b/scripts/forward_tty.sh
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
 # Client:
-# socat PTY,link=/dev/ttyS4,mode=777 TCP:wildthumper:10001
+# socat PTY,link=/dev/ttyS4,raw,echo=0,mode=777 TCP:wildthumper:10001
 
 socat /dev/ttyUSB0,b57600 TCP4-LISTEN:10001,reuseaddr