From 4679643eca8f2ba0fb228bf8d0af0c9d0076624c Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 5 Sep 2017 16:31:27 +0200
Subject: [PATCH] Removed global_costmap_params_gps and increased
 global_costmap_params_odom size

---
 config/global_costmap_params_gps.yaml  | 10 ----------
 config/global_costmap_params_odom.yaml |  6 +++---
 launch/move_base.launch                |  2 --
 3 files changed, 3 insertions(+), 15 deletions(-)
 delete mode 100644 config/global_costmap_params_gps.yaml

diff --git a/config/global_costmap_params_gps.yaml b/config/global_costmap_params_gps.yaml
deleted file mode 100644
index fa54a35..0000000
--- a/config/global_costmap_params_gps.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-# only differences to config/global_costmap_params.yaml
-global_costmap:
-  global_frame: gps
-  rolling_window: true
-  width: 200.0
-  height: 200.0
-  resolution: 0.10
-  plugins:
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_odom.yaml
index 60d391a..417e051 100644
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_odom.yaml
@@ -2,9 +2,9 @@
 global_costmap:
   global_frame: odom
   rolling_window: true
-  width: 100.0
-  height: 100.0
-  resolution: 0.05
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/launch/move_base.launch b/launch/move_base.launch
index e64852e..eb425c3 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,7 +2,6 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
-	<arg name="global_gps" default="false" />
 	<arg name="global_odom" default="false" />
 	<arg name="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
@@ -44,7 +43,6 @@
 		<rosparam file="$(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/global_costmap_params_gps.yaml" command="load" if="$(arg global_gps)" />
 		<rosparam file="$(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"/>
-- 
2.39.2