launchfiles/amcl-navigation.launch at master · dudasdavid/launchfiles · GitHub

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<launch>

  <!-- Map server -->
  <arg name="map_file" default="/home/david/catkin_ws/maps/iroda.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
  </node>

  <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"/>
  <arg name="odom_frame_id"   default="odom_combined"/>
  <arg name="base_frame_id"   default="base_link"/>
  <arg name="global_frame_id" default="map"/>

  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic"             value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha5"               value="0.05"/>
    <param name="gui_publish_rate"          value="10.0"/>
    <param name="laser_max_beams"             value="180"/>
    <param name="laser_max_range"           value="3.5"/>
    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="2000"/>
    <param name="kld_err"                   value="0.05"/>
    <param name="kld_z"                     value="0.90"/>
    <param name="odom_alpha1"               value="0.05"/>
    <param name="odom_alpha2"               value="0.05"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3"               value="0.05"/>
    <param name="odom_alpha4"               value="0.05"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_model_type"          value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d"              value="0.1"/>
    <param name="update_min_a"              value="0.1"/>
    <param name="odom_frame_id"             value="$(arg odom_frame_id)"/>
    <param name="base_frame_id"             value="$(arg base_frame_id)"/>
    <param name="global_frame_id"           value="$(arg global_frame_id)"/>
    <param name="resample_interval"         value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance"       value="0.5"/>
    <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>


  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />
  <arg name="custom_param_file" default="/home/david/catkin_ws/maps/param/dummy.yaml"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="/home/david/catkin_ws/maps/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="/home/david/catkin_ws/maps/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="/home/david/catkin_ws/maps/param/local_costmap_params.yaml" command="load" />
    <rosparam file="/home/david/catkin_ws/maps/param/global_costmap_params.yaml" command="load" />
    <rosparam file="/home/david/catkin_ws/maps/param/teb_local_planner_params.yaml" command="load" />
    <rosparam file="/home/david/catkin_ws/maps/param/move_base_params.yaml" command="load" />
    <rosparam file="/home/david/catkin_ws/maps/param/navfn_global_planner_params.yaml" command="load" />
    <!-- external params file that could be loaded into the move_base namespace -->
    <rosparam file="$(arg custom_param_file)" command="load" />

    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>

  </node>

</launch>