added full navigation stack with map of playground world.

gazebo_sim/config/costmap_common_params.yaml

@@ -6,4 +6,4 @@ 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}
+laser_scan_kinect: {sensor_frame: qt_pi/laser, data_type: LaserScan, topic: /qt_pi/scan, marking: true, clearing: true}

gazebo_sim/config/global_costmap_params.yaml

@@ -4,3 +4,5 @@ global_costmap:
   update_frequency: 5.0
   static_map: false
   rolling_window: true
+  width: 100
+  height: 100

gazebo_sim/launch/gazebo_sim.launch

@@ -1,10 +1,9 @@
 <launch>
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/playground.world"/>
+    <arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/qt_pi_laser.world"/>
   </include>
+  <!-- <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/> -->
   <include file="$(find qt_pi_gazebo_sim)/launch/static_tf.launch"/>
-  <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/>
-  <include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>
 
-</launch>
+</launch>

gazebo_sim/launch/gmapping.launch

@@ -1,8 +1,10 @@
 <launch>
+  <remap from="scan" to="qt_pi/scan"/>
   <node name="gmapping" pkg="gmapping" type="slam_gmapping">
     <param name="base_frame" value="qt_pi/base_link" type="string"/>
     <param name="odom_frame" value="qt_pi/odom" type="string"/>
-    <param name="maxUrange" value="90"/>
-    <param name="maxRange" value="100"/>
+
+    <param name="maxUrange" value="9"/>
+    <param name="maxRange" value="10"/>
   </node>
 </launch>

gazebo_sim/launch/move_base_amcl.launch

@@ -1,9 +1,17 @@
 <launch>
   <master auto="start"/>
+  <remap from="scan" to="qt_pi/scan"/>
+  <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
+  <remap from="odom" to="qt_pi/odom"/>
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/playground.yaml"/>
 
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/Untitled.pgm 0.05"/>
+  <node name="amcl" pkg="amcl" type="amcl">
 
-  <include file="$(find amcl)/examples/amcl_diff.launch"/>
+    <param name="base_frame_id" value="qt_pi/base_link" type="string"/>
+    <param name="odom_frame_id" value="qt_pi/odom" type="string"/>
+    <param name="odom_model_type" value="diff" type="string"/>
+
+  </node>
 
   <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"/>

gazebo_sim/launch/move_base_gmapping.launch

@@ -1,7 +1,9 @@
 <launch>
-
-  <remap from="odom" to="qt_pi/odom"/>
+  <remap from="scan" to="qt_pi/scan"/>
   <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
+  <remap from="odom" to="qt_pi/odom"/>
+  <include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>
+
   <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"/>

gazebo_sim/launch/static_tf.launch

@@ -1,3 +1,3 @@
 <launch>
-  <node pkg="tf" type="static_transform_publisher" name="camera_depth" args="0.2 0 0.2 0 0 0 1 qt_pi/base_link camera_depth_frame 33"/>
+  <node pkg="tf" type="static_transform_publisher" name="laser_frame" args="0.2 0 0.2 0 0 0 1 qt_pi/base_link qt_pi/laser 33"/>
 </launch>

gazebo_sim/map/frames.gv

@@ -0,0 +1,8 @@
+digraph G {
+"qt_pi/odom" -> "qt_pi/base_link"[label="Broadcaster: /gazebo\nAverage rate: 30.199 Hz\nMost recent transform: 604.007 ( 0.018 sec old)\nBuffer length: 4.967 sec\n"];
+"qt_pi/base_link" -> "qt_pi/laser"[label="Broadcaster: /laser_frame\nAverage rate: 30.419 Hz\nMost recent transform: 604.039 ( -0.014 sec old)\nBuffer length: 4.964 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 604.025"[ shape=plaintext ] ;
+ }->"qt_pi/odom";
+}

gazebo_sim/map/playground.yaml

@@ -0,0 +1,6 @@
+image: playground.pgm
+resolution: 0.050000
+origin: [-4.000000, -13.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196