diff --git a/gazebo_sim/config/base_local_planner_params.yaml b/gazebo_sim/config/base_local_planner_params.yaml new file mode 100644 index 0000000..3eadf53 --- /dev/null +++ b/gazebo_sim/config/base_local_planner_params.yaml @@ -0,0 +1,11 @@ +TrajectoryPlannerROS: + max_vel_x: 0.45 + min_vel_x: 0.1 + max_vel_theta: 1.0 + min_in_place_vel_theta: 0.4 + + acc_lim_theta: 3.2 + acc_lim_x: 2.5 + acc_lim_y: 2.5 + + holonomic_robot: true diff --git a/gazebo_sim/config/costmap_common_params.yaml b/gazebo_sim/config/costmap_common_params.yaml new file mode 100644 index 0000000..de05e19 --- /dev/null +++ b/gazebo_sim/config/costmap_common_params.yaml @@ -0,0 +1,9 @@ +obstacle_range: 100 +raytrace_range: 100 +footprint: [[0.2, 0.3], [0.2, -0.3], [-0.2, -0.3], [-0.2, 0.3]] +#robot_radius: ir_of_robot +inflation_radius: 0.5 + +observation_sources: laser_scan_kinect + +laser_scan_kinect: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true} diff --git a/gazebo_sim/config/global_costmap_params.yaml b/gazebo_sim/config/global_costmap_params.yaml new file mode 100644 index 0000000..5ed0b4d --- /dev/null +++ b/gazebo_sim/config/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: qt_pi/base_link + update_frequency: 5.0 + static_map: false + rolling_window: true diff --git a/gazebo_sim/config/local_costmap_params.yaml b/gazebo_sim/config/local_costmap_params.yaml new file mode 100644 index 0000000..a6f3c45 --- /dev/null +++ b/gazebo_sim/config/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: qt_pi/odom + robot_base_frame: qt_pi/base_link + update_frequency: 5.0 + publish_frequency: 2.0 + static_map: false + rolling_window: true + width: 15.0 + height: 15.0 + resolution: 0.05 diff --git a/gazebo_sim/launch/move_base.launch b/gazebo_sim/launch/move_base.launch new file mode 100644 index 0000000..27849ff --- /dev/null +++ b/gazebo_sim/launch/move_base.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_sim/launch/move_base_amcl.launch b/gazebo_sim/launch/move_base_amcl.launch new file mode 100644 index 0000000..0a118c8 --- /dev/null +++ b/gazebo_sim/launch/move_base_amcl.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + \ No newline at end of file