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updata params for move_base

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Robot 2024-04-04 12:00:17 +08:00
parent f9f3434c2b
commit 3e77ae2558
7 changed files with 16 additions and 2 deletions
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2
wpb_home_python/launch/map_tools.launch
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@ -39,6 +39,8 @@
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<!-- RViz and TF tree -->

4
wpb_home_remote/launch/fetch_app.launch
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@ -38,12 +38,14 @@
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>

4
wpb_home_remote/launch/home_app.launch
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@ -38,12 +38,14 @@
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>

2
wpb_home_remote/launch/nav_app.launch
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@ -40,6 +40,8 @@
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<!-- RViz and TF tree -->

2
wpb_home_tutorials/launch/mobile_manipulation.launch
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@ -55,6 +55,8 @@
<param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<!-- Run wpb_home_objects_3d-->

2
wpb_home_tutorials/launch/nav.launch
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@ -40,6 +40,8 @@
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<!-- RViz and TF tree -->

2
wpb_home_tutorials/launch/nav_cruise.launch
View File

@ -40,6 +40,8 @@
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
<param name= "oscillation_timeout" value="8" type="double"/>
<param name= "oscillation_distance" value="0.2" type="double"/>
</node>
<!-- RViz and TF tree -->