Merge pull request #41 from juandpenan/main

inspection launcher updated
CoreSenseEU · Jul 15, 2024 · 5f4df01 · 5f4df01
2 parents 6386d0b + 1de6d51
commit 5f4df01
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Showing 8 changed files with 18 additions and 11 deletions.
diff --git a/robocup_bringup/config/inspection/tiago_nav_params.yaml b/robocup_bringup/config/inspection/tiago_nav_params.yaml
@@ -1,11 +1,11 @@
 amcl:
   ros__parameters:
     use_sim_time: False
-    alpha1: 0.1
-    alpha2: 0.1
-    alpha3: 0.1
-    alpha4: 0.1
-    alpha5: 0.1
+    alpha1: 0.3
+    alpha2: 0.3
+    alpha3: 0.3
+    alpha4: 0.3
+    alpha5: 0.3
     base_frame_id: "base_footprint"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
@@ -219,11 +219,11 @@ local_costmap:
       height: 3
       resolution: 0.05
       robot_radius: 0.29
-      plugins: ["obstacle_layer" ,"inflation_layer"]
+      plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.45
+        inflation_radius: 0.40
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True

diff --git a/robocup_bringup/launch/inspection_dependencies.launch.py b/robocup_bringup/launch/inspection_dependencies.launch.py
@@ -77,15 +77,15 @@ def generate_launch_description():
             'map': os.path.join(
                                 package_dir,
                                 'maps',
-                                'ir_lab.yaml'),
+                                'robocup_arena_1.yaml'),
         }.items()
     )
 
     ld = LaunchDescription()
     ld.add_action(navigation)
-    ld.add_action(whisper_cmd)
-    ld.add_action(audio_common_player_node)
-    ld.add_action(audio_common_tts_node)
+    # # ld.add_action(whisper_cmd)
+    # ld.add_action(audio_common_player_node)
+    # ld.add_action(audio_common_tts_node)
     ld.add_action(real_time)
 
     return ld
diff --git a/robocup_bringup/maps/robocup_arena_1.data b/robocup_bringup/maps/robocup_arena_1.data
diff --git a/robocup_bringup/maps/robocup_arena_1.pgm b/robocup_bringup/maps/robocup_arena_1.pgm
diff --git a/robocup_bringup/maps/robocup_arena_1.posegraph b/robocup_bringup/maps/robocup_arena_1.posegraph
diff --git a/robocup_bringup/maps/robocup_arena_1.yaml b/robocup_bringup/maps/robocup_arena_1.yaml
@@ -0,0 +1,7 @@
+image: robocup_arena_1.pgm
+mode: trinary
+resolution: 0.05
+origin: [1.19, -13.4, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/robocup_bringup/maps/robocup_arena_2.data b/robocup_bringup/maps/robocup_arena_2.data
diff --git a/robocup_bringup/maps/robocup_arena_2.posegraph b/robocup_bringup/maps/robocup_arena_2.posegraph