update tf-s

adamkrawczyk · Feb 11, 2020 · 355dbdc · 355dbdc
1 parent 9c102c1
commit 355dbdc
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Showing 7 changed files with 27 additions and 51 deletions.
diff --git a/config/darknet_config_simulation.yaml b/config/darknet_config_simulation.yaml
diff --git a/launch/gmapping_only.launch b/launch/gmapping_only.launch
@@ -7,10 +7,10 @@
     <param name="map_frame" value="map"/>
     <param name="odom_frame" value="odom"/>
 
-    <param name="xmin" value="-5.0"/>
-    <param name="ymin" value="-5.0"/>
-    <param name="xmax" value="5.0"/>
-    <param name="ymax" value="5.0"/>
+    <param name="xmin" value="-25"/>
+    <param name="ymin" value="-25"/>
+    <param name="xmax" value="25"/>
+    <param name="ymax" value="25"/>
     <param name="map_update_interval" value="5.0"/>
     <param name="maxUrange" value="16.0"/>
     <param name="sigma" value="0.05"/>

diff --git a/launch/move_base_rosbot1.launch b/launch/move_base_rosbot1.launch
@@ -11,11 +11,11 @@
   <arg name="laser_topic" default="/rosbot1/scan" />
 
   <node pkg="move_base" type="move_base" respawn="false" name="move_base_rosbot1" output="screen">
-    <rosparam file="$(find multiple_rosbots_simulation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/local_costmap_params.yaml" command="load" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/global_costmap_params.yaml" command="load" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/trajectory_planner.yaml" command="load" />
+    <rosparam file="$(find multiple_rosbots)/config/costmap_common_params_rosbot1.yaml" command="load" ns="global_costmap" />
+        <rosparam file="$(find multiple_rosbots)/config/costmap_common_params_rosbot1.yaml" command="load" ns="local_costmap" />
+        <rosparam file="$(find multiple_rosbots)/config/local_costmap_params.yaml" command="load" />
+        <rosparam file="$(find multiple_rosbots)/config/global_costmap_params.yaml" command="load" />
+        <rosparam file="$(find multiple_rosbots)/config/trajectory_planner.yaml" command="load" />
     <!-- external params file that could be loaded into the move_base namespace -->
 
     <!-- reset frame_id parameters using user input data -->

diff --git a/launch/move_base_rosbot2.launch b/launch/move_base_rosbot2.launch
@@ -11,11 +11,11 @@
   <arg name="laser_topic" default="/rosbot2/scan" />
 
   <node pkg="move_base" type="move_base" respawn="false" name="move_base_rosbot2" output="screen">
-    <rosparam file="$(find multiple_rosbots_simulation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/local_costmap_params.yaml" command="load" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/global_costmap_params.yaml" command="load" />
-        <rosparam file="$(find multiple_rosbots_simulation)/config/trajectory_planner.yaml" command="load" />
+    <rosparam file="$(find multiple_rosbots)/config/costmap_common_params_rosbot2.yaml" command="load" ns="global_costmap" />
+        <rosparam file="$(find multiple_rosbots)/config/costmap_common_params_rosbot2.yaml" command="load" ns="local_costmap" />
+        <rosparam file="$(find multiple_rosbots)/config/local_costmap_params.yaml" command="load" />
+        <rosparam file="$(find multiple_rosbots)/config/global_costmap_params.yaml" command="load" />
+        <rosparam file="$(find multiple_rosbots)/config/trajectory_planner.yaml" command="load" />
     <!-- external params file that could be loaded into the move_base namespace -->
 
     <!-- reset frame_id parameters using user input data -->

diff --git a/launch/rosbot1.launch b/launch/rosbot1.launch
@@ -10,9 +10,6 @@
         <include file="$(find multiple_rosbots)/launch/move_base_rosbot1.launch" />
         <include file="$(find multiple_rosbots)/launch/amcl_only_rosbot1.launch" />
 
-	</group>
-
-
-
+</group>
 
 </launch>
diff --git a/maps/test_arena.pgm b/maps/test_arena.pgm
diff --git a/maps/test_arena.yaml b/maps/test_arena.yaml
@@ -0,0 +1,7 @@
+image: test_arena.pgm
+resolution: 0.050000
+origin: [-13.200000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+