Merge pull request #17 from khaledhazime/master

Changed hokuyo_link parameters and created sick_link
butia-bots · Aug 13, 2019 · 0316f37 · 0316f37
2 parents 6cd3fcb + bc20851
commit 0316f37
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Showing 3 changed files with 13 additions and 5 deletions.
diff --git a/butia_navigation_description/config/param/costmap_common_params.yaml b/butia_navigation_description/config/param/costmap_common_params.yaml
@@ -1,4 +1,4 @@
-max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
+max_obstacle_height: 1.0  # assume something like an arm is mounted on top of the robot
 
 # Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
 # robot_radius: 0.35  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
@@ -40,7 +40,7 @@ obstacle_layer:
     max_obstacle_height: 0.35
     observation_persistence: 0.0  # parametros sendo testados
     raytrace_range: 4.0
-    inf_is_valid: true/
+    inf_is_valid: true
 
   # for debugging only, let's you see the entire voxel grid
 

diff --git a/butia_navigation_description/config/sick_lms_1xx.launch.xml b/butia_navigation_description/config/sick_lms_1xx.launch.xml
@@ -2,8 +2,13 @@
 <!-- FOR FUTURE USE. NOT SUPPORTED NOW. DO NOT USE IT. -->
 <launch>
   <arg name="hostname" default="169.254.147.28" />
+    <!-- Sick_link declaration-->
+  <node pkg="tf" type="static_transform_publisher" name="sick_broadcaster" args="0.108 0 0.68 0 0 0 1 base_link sick_link 100" />
+
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
-  <!--node name="sick_lms_1xx" pkg="sick_scan" type="robot_state_publisher" respawn="false" output="screen"-->
+
+  <node name="sick_lms_1xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen">
+
     <!-- default values: -->
     <!--
       <param name="intensity" type="bool" value="True" />
@@ -17,7 +22,10 @@
 	<param name="min_ang" type="double" value="-1.658" />
 	<param name="max_ang" type="double" value="1.658" />
     -->
-      <param name="frame_id" type="str" value="sick_mount_link" />
+
+
+      <param name="frame_id" type="str" value="sick_link" />
+
     	<param name="use_binary_protocol" type="bool" value="False" />
 	<param name="scanner_type" type="string" value="sick_lms_1xx"/>
 	<param name="range_max" type="double" value="25.0" />

diff --git a/butia_navigation_description/urdf/pioneer3at.urdf b/butia_navigation_description/urdf/pioneer3at.urdf
@@ -1,4 +1,3 @@
-<?xml version="1.0" ?>
 <!-- =================================================================================== -->
 <!-- |    This document was autogenerated by xacro from pioneer3at.urdf.xacro          | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
@@ -577,6 +576,7 @@
   </link>
   <joint name="hokuyo_joint" type="fixed">
     <!--<axis xyz="0 0 1" />-->
+
     <origin rpy="3.1415 0 0" xyz="0.08 0 -0.03"/>
     <parent link="base_link"/>
     <child link="hokuyo_link"/>