rospibot6 robot6.launch
<launch> <arg name="use_map_topic" default="false"/> <arg name="scan_topic" default="scan"/> <arg name="initial_pose_x" default="0.0"/> <arg name="initial_pose_y" default="0.0"/> <arg name="initial_pose_a" default="0.0"/> <rosparam param="base_width">0.1928</rosparam> <rosparam param="ticks_meter">21140</rosparam> <node name="diff_tf" pkg="rospibot6" type="diff_tf.py" output="screen"> <rosparam param="ticks_meter">21140</rosparam> <rosparam param="base_width">0.1928</rosparam> <rosparam param="base_frame_id">base_link</rosparam> <rosparam param="odom_frame_id">odom</rosparam> <rosparam param="rate">50</rosparam> </node> <node pkg="tf" type="static_transform_publisher" name="neato_laser_tf" args="0.0 0 0.10 0 0 0 /base_link /neato_laser 50" /> <node name="xv11" pkg="xv_11_laser_driver" type="neato_laser_publisher" respawn="true" output="screen"> <param name="port" value="/dev/ttyAMA0"/> <!--<param name="firmware_version" value="2"/>--> </node> <node name="gmap" pkg="gmapping" type="slam_gmapping" respawn="true" respawn_delay="30" output="screen"> <param name="linearUpdate" type="double" value="0.0" /> <param name="angularUpdate" type="double" value="0.0" /> <param name="map_update_interval" type="double" value="5.0" /> <param name="throttle_scans" type="int" value="1" /> <!-- map size & resolution--> <param name="xmin" type="double" value="-20.0" /> <param name="ymin" type="double" value="-20.0" /> <param name="xmax" type="double" value="20.0" /> <param name="ymax" type="double" value="20.0" /> <param name="delta" type="double" value="0.05" /> <!-- odometry error --> <param name="srr" type="double" value="0.01" /> <param name="srt" type="double" value="0.02" /> <param name="str" type="double" value="0.01" /> <param name="stt" type="double" value="0.02" /> </node> <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen"> <rosparam file="$(find rospibot6)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find rospibot6)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find rospibot6)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(find rospibot6)/param/global_costmap_params.yaml" command="load" /> <rosparam file="$(find rospibot6)/param/base_local_planner_params.yaml" command="load" /> <rosparam file="$(find rospibot6)/param/dwa_local_planner_params.yaml" command="load" /> <rosparam file="$(find rospibot6)/param/move_base_params.yaml" command="load" /> </node> <!-- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> <param name="output_frame" value="odom"/> <param name="freq" value="30.0"/> <param name="sensor_timeout" value="1.0"/> <param name="odom_used" value="true"/> <param name="imu_used" value="true"/> <param name="vo_used" value="false"/> <param name="debug" value="true"/> <param name="self_diagnose" value="true"/> </node> --> <node pkg="amcl" type="amcl" name="amcl"> <param name="use_map_topic" value="$(arg use_map_topic)"/> <!-- Publish scans from best pose at a max of 10 Hz --> <param name="odom_model_type" value="diff"/> <param name="odom_alpha5" value="0.1"/> <param name="gui_publish_rate" value="10.0"/> <param name="laser_max_beams" value="60"/> <param name="laser_max_range" value="12.0"/> <param name="min_particles" value="500"/> <param name="max_particles" value="2000"/> <param name="kld_err" value="0.05"/> <param name="kld_z" value="0.99"/> <param name="odom_alpha1" value="0.2"/> <param name="odom_alpha2" value="0.2"/> <!-- translation std dev, m --> <param name="odom_alpha3" value="0.2"/> <param name="odom_alpha4" value="0.2"/> <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_model_type" value="likelihood_field"/> <!-- <param name="laser_model_type" value="beam"/> --> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="update_min_d" value="0.25"/> <param name="update_min_a" value="0.2"/> <param name="odom_frame_id" value="odom"/> <param name="base_frame_id" value="base_footprint"/> <param name="resample_interval" value="1"/> <!-- Increase tolerance because the computer can get quite busy --> <param name="transform_tolerance" value="1.0"/> <param name="recovery_alpha_slow" value="0.0"/> <param name="recovery_alpha_fast" value="0.0"/> <param name="initial_pose_x" value="$(arg initial_pose_x)"/> <param name="initial_pose_y" value="$(arg initial_pose_y)"/> <param name="initial_pose_a" value="$(arg initial_pose_a)"/> <remap from="scan" to="$(arg scan_topic)"/> </node> <node name="base_node" pkg="rospibot6" type="base5" respawn="true" respawn_delay="30" output="screen"> <!--<rosparam file="$(find mypackage)/config/example.yaml" command="load" />--> <remap from="wheel_left" to="lwheel"/> <remap from="wheel_right" to="rwheel"/> <param name="sample_rate" type="int" value="100" /> <param name="pid_enabled" type="bool" value="0" /> <param name="odom_enabled" type="bool" value="0" /> <param name="cmdvel_enabled" type="bool" value="1" /> <param name="cmdvel_k" type="double" value="0.3" /> <!-- BASE --> <param name="wheel_rad" type="double" value="0.03385" /> <param name="wheel_sep" type="double" value="0.1928" /> <param name="wheel_encoder_pulses" type="double" value="4496.0" /> <!-- PID --> <param name="pid_out_trh" type="double" value="0.0" /> <param name="pid_out_min" type="double" value="0.0" /> <param name="pid_out_max" type="double" value="64.0" /> <param name="pid_out_k" type="double" value="500.0" /> <param name="pid_sample_time" type="double" value="0.050" /> <param name="pid_setpoint_max" type="double" value="150000.0" /> <param name="pid_left_kp" type="double" value="0.7" /> <param name="pid_left_ki" type="double" value="0.01" /> <param name="pid_left_kd" type="double" value="0.0" /> <param name="pid_right_kp" type="double" value="0.7" /> <param name="pid_right_ki" type="double" value="0.01" /> <param name="pid_right_kd" type="double" value="0.0" /> <!-- IMU --> <param name="frame_id" type="str" value="base_imu" /> <param name="ax" type="int" value="0" /> <param name="ay" type="int" value="0" /> <param name="az" type="int" value="0" /> <param name="gx" type="int" value="0" /> <param name="gy" type="int" value="0" /> <param name="gz" type="int" value="0" /> <param name="ado" type="bool" value="false" /> <param name="debug" type="bool" value="false" /> </node> </launch>