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Update move_base.launch #9

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merged 3 commits into from
Feb 11, 2022
Merged

Update move_base.launch #9

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307d64c
Update move_base.launch
siddarth09 Feb 11, 2022
05cb187
Update navigation.launch
siddarth09 Feb 11, 2022
62b575d
Update rusty.gazebo
siddarth09 Feb 11, 2022
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4 changes: 2 additions & 2 deletions rusty/launch/move_base.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,13 @@
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS" />
<param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
<rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rusty)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/move_base_params.yaml" command="load" />
<rosparam file="$(find rusty)/params/base_local_planner.yaml" command="load" />
<rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" />
<!--rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" /-->
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
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2 changes: 1 addition & 1 deletion rusty/launch/navigation.launch
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Expand Up @@ -22,7 +22,7 @@
<rosparam command="load" file="$(find rusty)/config/location.yaml" />
<!-- rviz -->

<arg default="$(find rusty_description)/launch/rusty_display.rviz" name="rvizconfig"/>
<arg default="$(find rusty)/config/rusty_nav.rviz" name="rvizconfig"/>
<param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
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4 changes: 2 additions & 2 deletions rusty_description/urdf/rusty.gazebo
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Expand Up @@ -102,8 +102,8 @@
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
<min_angle>-1.57</min_angle>
<max_angle>1.57</max_angle>
</horizontal>
</scan>
<range>
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