update navigation, change param, namespace #29
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nyxrobotics
requested changes
May 20, 2024
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| <!-- <arg name="map_info_file" default="/home/gisen/map/M20210525165127330/map_info.yaml"/> | ||
| <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> | ||
| <rosparam command="delete" param="map_info/building_id"/> | ||
| <rosparam command="delete" param="map_info/floor_id"/> | ||
| <group ns="navigation"> | ||
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| <!--[EDIT] robot name--> | ||
| <arg name="robot" default="cube_petit"/> | ||
| <!--[EDIT] topic name of /scan--> | ||
| <arg name="scan" default="/pacecat/scan_filtered"/> | ||
| <!--[EDIT] topic name of /odom--> | ||
| <arg name="odom" default="/cube_petit/diff_drive_controller/odom"/> | ||
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| <!-- [EDIT] map file name--> | ||
| <!-- <arg name="map_file" default="$(find cube_petit)/map/daikaigisitu/map.yaml"/> --> | ||
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| <!-- <arg name="map_file" default="$(find cube_petit_gazebo)/map/floor_eight/map.yaml"/> --> | ||
| <!-- <arg name="map_file" default="$(find cube_petit_navigation)/map/airi_v2/map.yaml"/> --> | ||
| <arg name="map_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml"/> | ||
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| <!-- [EDIT] keepout map file name if you need --> | ||
| <arg name="map_keepout_file" default="$(find cube_petit_navigation)/map/floor_27_2/3/map.yaml" /> | ||
| <arg name="use_keepout" default="true" /> | ||
| <param name="map_server/map_file" value="$(arg map_file)" /> | ||
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| <!-- If "costmap_image = true" launch costmap_to_image node --> | ||
| <arg name="costmap_image" default="false" /> | ||
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| <!-- Navigation parameter files --> | ||
| <arg name="move_base_include" default="$(find cube_petit_navigation)/launch/include/move_base.launch.xml"/> | ||
| <arg name="amcl_include" default="$(find cube_petit_navigation)/launch/include/amcl.launch.xml"/> | ||
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| <!-- serve up a map --> | ||
| <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/> | ||
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| <!-- serve up a map with keepout zones --> | ||
| <group if="$(arg use_keepout)" > | ||
| <rosparam command="delete" param="map_info/floor_id"/> --> | ||
| <!-- <group ns="navigation"> --> |
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| <!-- <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> --> | ||
| <!-- <node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 map odom 100" /> --> |
| <param name="map_server/map_file" value="$(arg map_file)"/> | ||
| <!-- <rosparam command="load" file="$(arg map_info_file)" ns="map_info"/> --> | ||
| <!-- <node pkg="tf" type="static_transform_publisher" name="odom_tf" args="0 0 0 0 0 0 map odom 100" /> --> | ||
| <!-- If "costmap_image = true" launch costmap_to_image node --> |
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| <!-- <group ns="rviz_topics_relay"> | ||
| <node name="clicked_point_relay" pkg="topic_tools" type="relay" args="/clicked_point /clicked_point"/> | ||
| <node name="initialpose_relay" pkg="topic_tools" type="relay" args="/initialpose /initialpose"/> | ||
| <node name="simple_goal_relay" pkg="topic_tools" type="relay" args="/move_base_simple/goal /move_base_simple/goal"/> | ||
| </group> --> |
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| <!-- <remap from="move_base_simple/goal" to="/move_base_simple/goal"/> | ||
| <remap from="initial_pose" to="/initial_pose"/> | ||
| <remap from="clicked_point" to="/clicked_point"/> --> |
| <remap from="initial_pose" to="/initial_pose"/> | ||
| <remap from="clicked_point" to="/clicked_point"/> --> | ||
| </include> | ||
| <!-- </group> --> |
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Summary
navitaionのlaunch、odomのパラメータのアップデート、map追加を行いました
Test