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Added an additional argument move_forward_only to prohibit backward l… #339

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merged 1 commit into from
Oct 31, 2018
Merged

Added an additional argument move_forward_only to prohibit backward l… #339

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2 changes: 2 additions & 0 deletions turtlebot3_navigation/launch/move_base.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<arg name="move_forward_only" default="false"/>

<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
Expand All @@ -15,5 +16,6 @@
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
</node>
</launch>
2 changes: 2 additions & 0 deletions turtlebot3_navigation/launch/turtlebot3_navigation.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
<arg name="open_rviz" default="true"/>
<arg name="move_forward_only" default="false"/>

<!-- Turtlebot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
Expand All @@ -18,6 +19,7 @@
<!-- move_base -->
<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>

<!-- rviz -->
Expand Down