/
global_planner.launch
81 lines (62 loc) · 3.44 KB
/
global_planner.launch
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<launch>
<arg name="map_size_x" default="20.0"/>
<arg name="map_size_y" default="20.0"/>
<arg name="map_size_z" default=" 3.0"/>
<arg name="init_x" default="-8.0"/>
<arg name="init_y" default="-8.0"/>
<arg name="init_z" default=" 2.0"/>
<arg name="max_vel" default="4.5"/>
<arg name="max_acc" default="3.5"/>
<arg name="resolution" default="0.1"/>
<arg name="poly_order" default="5"/>
<node pkg="trr_global_planner" type="tr_node" name="tr_node" output="screen" required = "true">
<remap from="~waypoints" to="/waypoint_generator/waypoints"/>
<remap from="~odometry" to="/drone_1/visual_slam/odom" />
<remap from="~map" to="/random_complex/global_map"/>
<remap from="~joystick" to="/joy"/>
<param name="write_path" value="false" />
<param name="read_path" value="false" />
<param name="optimization/poly_order" value="$(arg poly_order)" />
<param name="optimization/min_order" value="3.0" />
<param name="map/x_size" value="$(arg map_size_x)"/>
<param name="map/y_size" value="$(arg map_size_y)"/>
<param name="map/z_size" value="$(arg map_size_z)"/>
<param name="map/map_margin" value="0.1" />
<param name="map/resolution" value="$(arg resolution)" />
<param name="planning/rho_time" value="10.0"/>
<param name="planning/max_vel" value="$(arg max_vel)" />
<param name="planning/max_acc" value="$(arg max_acc)" />
<param name="planning/max_d_acc" value="1.0" />
<param name="planning/max_inf_iter" value="20" />
<param name="planning/max_clu_iter" value="20" />
<param name="vis/vis_traj_width" value="0.1 "/>
</node>
<node pkg="waypoint_generator" name="waypoint_generator" type="waypoint_generator" output="screen">
<remap from="~odom" to="/drone_1/visual_slam/odom"/>
<remap from="~goal" to="/goal"/>
<param name="waypoint_type" value="manual-lonely-waypoint"/>
</node>
<node pkg="trr_global_planner" name="click_obstacle_generation" type="click_obstacle_generation" output="screen">
<remap from = "~odometry" to = "/drone_1/visual_slam/odom"/>
<remap from = "~goal" to = "/goal"/>
<param name="map/resolution" value="$(arg resolution)"/>
<param name="map/max_height" value="$(arg map_size_z)"/>
<param name="ObstacleShape/lower_rad" value="0.2"/>
<param name="ObstacleShape/upper_rad" value="0.3"/>
<param name="ObstacleShape/lower_hei" value="2.0"/>
<param name="ObstacleShape/upper_hei" value="3.0"/>
</node>
<node pkg="local_sensing_node" type="pcl_render_node" name="pcl_render_node" output="screen">
<rosparam command="load" file="$(find local_sensing_node)/params/camera.yaml" />
<param name="sensing_horizon" value="10.0" />
<param name="sensing_rate" value="30.0"/>
<param name="estimation_rate" value="30.0"/>
<param name="map/resolution" value="$(arg resolution)"/>
<param name="map/x_size" value="$(arg map_size_x)"/>
<param name="map/y_size" value="$(arg map_size_y)"/>
<param name="map/z_size" value="$(arg map_size_z)"/>
<remap from="~global_map" to="/random_complex/global_map"/>
<remap from="~local_map" to="/click_obstacle_generation/click_new_obs"/>
<remap from="~odometry" to="/drone_1/visual_slam/odom"/>
</node>
</launch>