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global_map.launch
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global_map.launch
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<launch>
<!-- Set to your sensor's range -->
<arg name="sensor_range" default="1.0"/>
<node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
<param name="frequency" type="double" value="2.0"/>
<param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>
#All standard costmap_2d parameters as in move_base, other than BoundedExploreLayer
<rosparam ns="explore_costmap" subst_value="true">
footprint: [[0.1, 0.0], [0.0, 0.1], [-0.1, 0.0], [0.0, -0.1]]
robot_radius: 0.10
transform_tolerance: 0.5
update_frequency: 5.0
publish_frequency: 5.0
#must match incoming static map
global_frame: map
robot_base_frame: base_link
resolution: 0.05
rolling_window: false
track_unknown_space: true
plugins:
- {name: static, type: "costmap_2d::StaticLayer"}
- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
#Can disable sensor layer if gmapping is fast enough to update scans
- {name: sensor, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
static:
#Can pull data from gmapping, map_server or a non-rolling costmap
map_topic: /map
# map_topic: move_base/global_costmap/costmap
subscribe_to_updates: true
explore_boundary:
resize_to_boundary: false
frontier_travel_point: middle
#set to false for gmapping, true if re-exploring a known area
explore_clear_space: false
sensor:
observation_sources: laser
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)}
inflation:
inflation_radius: 0.15
</rosparam>
</node>
</launch>