From 5d132dd630132b9e5c347000e52219f0cb186433 Mon Sep 17 00:00:00 2001
From: yikestone <rishabh_kundu@rediffmail.com>
Date: Tue, 2 Apr 2019 02:36:34 +0530
Subject: [PATCH] added navigation costmap files.

---
 .../config/base_local_planner_params.yaml     | 11 ++++++++++
 gazebo_sim/config/costmap_common_params.yaml  |  9 +++++++++
 gazebo_sim/config/global_costmap_params.yaml  |  6 ++++++
 gazebo_sim/config/local_costmap_params.yaml   | 10 ++++++++++
 gazebo_sim/launch/move_base.launch            | 20 +++++++++++++++++++
 gazebo_sim/launch/move_base_amcl.launch       | 15 ++++++++++++++
 6 files changed, 71 insertions(+)
 create mode 100644 gazebo_sim/config/base_local_planner_params.yaml
 create mode 100644 gazebo_sim/config/costmap_common_params.yaml
 create mode 100644 gazebo_sim/config/global_costmap_params.yaml
 create mode 100644 gazebo_sim/config/local_costmap_params.yaml
 create mode 100644 gazebo_sim/launch/move_base.launch
 create mode 100644 gazebo_sim/launch/move_base_amcl.launch

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 @@
+<launch>
+
+  <remap from="odom" to="qt_pi/odom"/>
+  <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
+    <param name="footprint_padding" value="0.01"/>
+    <param name="controller_frequency" value="10.0"/>
+    <param name="controller_patience" value="3.0"/>
+
+    <param name="oscillation_timeout" value="30.0"/>
+    <param name="oscillation_distance" value="0.5"/>
+
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/local_costmap_params.yaml" command="load"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/global_costmap_params.yaml" command="load"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/base_local_planner_params.yaml" command="load"/>
+
+  </node>
+</launch>
\ No newline at end of file
diff --git a/gazebo_sim/launch/move_base_amcl.launch b/gazebo_sim/launch/move_base_amcl.launch
new file mode 100644
index 0000000..0a118c8
--- /dev/null
+++ b/gazebo_sim/launch/move_base_amcl.launch
@@ -0,0 +1,15 @@
+<launch>
+  <master auto="start"/>
+
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/Untitled.pgm 0.05"/>
+
+  <include file="$(find amcl)/examples/amcl_diff.launch"/>
+
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/local_costmap_params.yaml" command="load"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/global_costmap_params.yaml" command="load"/>
+    <rosparam file="$(find qt_pi_gazebo_sim)/config/base_local_planner_params.yaml" command="load"/>
+  </node>
+</launch>
\ No newline at end of file