/*===============================
costmap_common_params:
=============================*/

map_type: costmap

obstacle_range: 2.5
raytrace_range: 3.0

transform_tolerance: 0.1

footprint: [[-0.15, 0.2], [0.15, 0.2], [0.15, -0.2], [-0.15, -0.2]]
#robot_radius: 0.0
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /udacity_bot/laser/scan, marking: true, clearing: true}


/*===============================
base_local_planner_params
=============================*/

TrajectoryPlannerROS:

  # robot configurations
  acc_lim_x: 5.0 # default is 2.5
  acc_lim_y: 5.0 # default is 2.5
  acc_lim_theta: 3.2 # default is 3.2

  max_vel_x: 1.0 # default is 0.5
  min_vel_x: 0.2 # default is 0.1

  max_vel_theta: 1.2 # default is 1.0
  min_vel_theta: -1.2 # default is -1.0

  min_in_place_vel_theta: 0.2 # default is 0.4

  escape_vel: -0.2 # default is -0.1

  holonomic_robot: false

  # goal tolerance
  yaw_goal_tolerance: 0.08
  xy_goal_tolerance: 0.15

  meter_scoring: true
  sim_time: 2.0

  /*===============================
  global_costmap_params
  =============================*/

  global_costmap:
     global_frame: map
     robot_base_frame: robot_footprint
     update_frequency: 5.0
     publish_frequency: 2.0
     width: 40.0
     height: 40.0
     resolution: 0.05
     static_map: true
     rolling_window: false

 /*===============================
 local_costmap_params
 =============================*/

 local_costmap:
    global_frame: odom
    robot_base_frame: robot_footprint
    update_frequency: 5.0
    publish_frequency: 2.0
    width: 20.0
    height: 20.0
    resolution: 0.05
    static_map: false
    rolling_window: true


/* ==================================
 amcl.launch
 ================================*/
 <?xml version="1.0" ?>

 <launch>
   <!-- Map server -->
   <arg name="map_file" default="$(find udacity_bot)/maps/jackal_race.yaml" />
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

   <!-- localization -->
   <node pkg="amcl" type="amcl" name="amcl" output="screen">
     <remap from="scan" to="udacity_bot/laser/scan" />
     <param name="odom_frame_id" value="odom" />
     <param name="odom_model_type" value="diff-corrected" />
     <param name="base_frame_id" value="robot_footprint" />
     <param name="global_frame_id" value="map" />

     <!-- tunable params -->
     <!-- overall filter -->
     <param name="min_particles" value="5" />
     <param name="max_particles" value="50" />
     <param name="transform_tolerance" value="0.1" />
     <param name="initial_pose" value="0 0 0" />

     <!-- laser -->
     <!-- type default to likelihood_field -->
     <!-- default is 0.95 -->
     <param name="laser_z_hit" value="0.45" />

     <!-- default is 0.05 -->
     <param name="laser_z_rand" value="0.1" />


     <!-- odometry -->
     <param name="odom_model_type" value="diff-corrected" />
   </node>

   <!-- Move base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <rosparam file="$(find udacity_bot)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
     <rosparam file="$(find udacity_bot)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
     <rosparam file="$(find udacity_bot)/config/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find udacity_bot)/config/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find udacity_bot)/config/base_local_planner_params.yaml" command="load" />

     <remap from="cmd_vel" to="cmd_vel"/>
     <remap from="odom" to="odom"/>
     <remap from="scan" to="udacity_bot/laser/scan"/>

     <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
     <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
     <param name="controller_frequency" type="double" value="15" />
   </node>
 </launch>