Merge pull request #5 from i-am-neet/master

v1.2.0

timda_bringup/launch/hector_slam.launch

@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
+  <arg name="base_frame" default="base_link"/>
+  <!-- w/o odom-->
+  <!-- <arg name="odom_frame" default="base_link" /> -->
+  <!-- w/ odom-->
+  <arg name="odom_frame" default="odom" />
+  <arg name="pub_map_odom_transform" default="true"/>
+  <arg name="scan_subscriber_queue_size" default="5"/>
+  <arg name="scan_topic" default="scan_multi"/>
+  <arg name="map_size" default="2048"/>
+
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+
+    <!-- Frame names -->
+    <param name="map_frame" value="map" />
+    <param name="base_frame" value="$(arg base_frame)" />
+    <param name="odom_frame" value="$(arg odom_frame)" />
+
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
+
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="$(arg map_size)"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+    <param name="map_multi_res_levels" value="2" />
+
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+    <param name="laser_min_dist" value="0.1" />
+    <param name="laser_max_dist" value="30.0" />
+    <param name="laser_z_min_value" value = "-1.0" />
+    <param name="laser_z_max_value" value = "1.0" />
+
+    <!-- Advertising config -->
+    <param name="advertise_map_service" value="true"/>
+
+    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
+    <param name="scan_topic" value="$(arg scan_topic)"/>
+
+    <!-- Debug parameters -->
+    <!--
+      <param name="output_timing" value="false"/>
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
+  </node>
+
+  <!-- <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="/base_link" />
+    <param name="trajectory_update_rate" type="double" value="4" />
+    <param name="trajectory_publish_rate" type="double" value="0.25" />
+  </node> -->
+
+  <!-- <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <param name="map_file_base_name" type="string" value="hector_slam_map" />
+    <param name="geotiff_save_period" type="double" value="10" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+  </node> -->
+
+</launch>

timda_bringup/launch/robot-sim.launch → timda_bringup/launch/robot_sim.launch

@@ -1,5 +1,7 @@
 <launch>
+  <param name="use_sim_time" value="true" />
   <include file="$(find timda_gazebo)/launch/timda_sim.launch" />
   <include file="$(find ira_laser_tools)/launch/laserscan_multi_merger.launch" />
+  <include file="$(find timda_bringup)/launch/hector_slam.launch" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find timda_description)/rviz/laser.rviz" />
 </launch>

timda_bringup/launch/test.launch

@@ -0,0 +1,8 @@
+<launch>
+  <arg name="urdf_file" default="$(find xacro)/xacro '$(find timda_description)/urdf/timda_mobile_platform.urdf.xacro'"/>
+  <param name="robot_description" command="$(arg urdf_file)"/>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="30.0"/>
+  </node>
+</launch>