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Update amcl.launch #8

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Merged
merged 4 commits into from
Jan 31, 2022
Merged

Update amcl.launch #8

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40c614f
Update amcl.launch
siddarth09 Jan 31, 2022
301f2db
Update costmap_common_params.yaml
siddarth09 Jan 31, 2022
32e37cf
Update dwa_local_planner_params.yaml
siddarth09 Jan 31, 2022
d307f4f
Update virtual_box.cpp
siddarth09 Jan 31, 2022
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11 changes: 1 addition & 10 deletions rusty/launch/amcl.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -19,16 +19,7 @@
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_link"/>
<param name="global_frame_id" value="map"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>

</node>


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4 changes: 2 additions & 2 deletions rusty/params/costmap_common_params.yaml
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@@ -1,8 +1,8 @@
obstacle_range: 4.0
raytrace_range: 3.5

footprint: [[0.250, 0.300], [-0.250, 0.300], [-0.250, -0.300], [0.250, -0.300]]
#robot_radius: 0.380
#footprint: [[0.250, 0.300], [-0.250, 0.300], [-0.250, -0.300], [0.250, -0.300]]
robot_radius: 0.380

inflation_radius: 0.6
cost_scaling_factor: 3.0
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10 changes: 5 additions & 5 deletions rusty/params/dwa_local_planner_params.yaml
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
DWAPlannerROS:

# Robot Configuration Parameters
max_vel_x: 0.30
max_vel_x: 0.26
min_vel_x: -0.20

max_vel_y: 0.0
min_vel_y: 0.0

# The velocity when robot is moving in a straight line
max_vel_trans: 0.35
min_vel_trans: 0.13
max_vel_trans: 0.26
min_vel_trans: -0.15

max_vel_theta: 1.5
min_vel_theta: 0.4
max_vel_theta: 2.8
min_vel_theta: 1.5

acc_lim_x: 2.5
acc_lim_y: 0.0
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2 changes: 1 addition & 1 deletion rusty/src/virtual_box.cpp
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Expand Up @@ -31,7 +31,7 @@ int main( int argc, char** argv )
ros::spinOnce();
visualization_msgs::Marker marker;

marker.header.frame_id = "/map";
marker.header.frame_id = "map";
marker.header.stamp = ros::Time::now();


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