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saved work, odom not right, to be fixed

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Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
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scout_robot/launch/navigation.launch Normal file
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<!--
Simulate a differential drive robot with the teb_local_planner in stage:
- map_server
- move_base
- static map
- amcl
- rviz view
-->
<launch>
<!-- ************** Global Parameters *************** -->
<param name="/use_sim_time" value="true"/>
<!-- ************** Navigation *************** -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scout_robot)/param/diff_drive/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_robot)/param/diff_drive/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_robot)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
</node>
<!-- ****** Maps ***** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find scout_robot)/maps/play.yaml" output="screen">
<param name="frame_id" value="map"/>
</node>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<rosparam file="$(find scout_robot)/param/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="-2"/>
<param name="initial_pose_y" value="-1"/>
<param name="initial_pose_a" value="0"/>
</node>
<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/rviz_navigation.rviz"/>
</launch>