Guest User

robot_carlike_in_stage1.launch

a guest
Sep 13th, 2016
191
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
  1. <!--
  2. Simulate a carlike robot with the teb_local_planner in stage:
  3. - stage
  4. - map_server
  5. - move_base
  6. - costmap_converter
  7. - static map
  8. - amcl
  9. - rviz view
  10.  
  11. -->
  12. <launch>
  13.  
  14. <!-- ************** Global Parameters *************** -->
  15. <param name="/use_sim_time" value="true"/>
  16.  
  17. <!-- ************** Stage Simulator *************** -->
  18. <node pkg="stage_ros" type="stageros" name="stageros" args="$(find teb_local_planner_tutorials)/stage/maze_carlike1.world">
  19. <remap from="base_scan" to="scan"/>
  20. </node>
  21.  
  22.  
  23.  
  24. <!-- ************** Navigation *************** -->
  25. <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  26. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="global_costmap" />
  27. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="local_costmap" />
  28. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/local_costmap_params.yaml" command="load" />
  29. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/global_costmap_params.yaml" command="load" />
  30. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/teb_local_planner_params.yaml" command="load" />
  31.  
  32. <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_converter_params.yaml" command="load" />
  33.  
  34.  
  35.  
  36. <param name="base_global_planner" value="global_planner/GlobalPlanner" />
  37. <param name="planner_frequency" value="1.0" />
  38. <param name="planner_patience" value="5.0" />
  39.  
  40. <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
  41. <param name="controller_frequency" value="5.0" />
  42. <param name="controller_patience" value="15.0" />
  43.  
  44. <param name="clearing_rotation_allowed" value="false" /> <!-- Our carlike robot is not able to rotate in place -->
  45. </node>
  46.  
  47.  
  48. <!-- ****** Maps ***** -->
  49. <node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/tutorial.yaml" output="screen">
  50. <param name="frame_id" value="/map"/>
  51. </node>
  52.  
  53. <node pkg="amcl" type="amcl" name="amcl" output="screen">
  54. <rosparam file="$(find teb_local_planner_tutorials)/cfg/amcl_params.yaml" command="load" />
  55.  
  56. <param name="initial_pose_x" value="0.0"/>
  57. <param name="initial_pose_y" value="0.0"/>
  58. <param name="initial_pose_a" value="0.0"/>
  59. </node>
  60.  
  61. <!-- **************** Visualisation **************** -->
  62. <node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/>
  63.  
  64. </launch>
RAW Paste Data