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Feature/start from mid #71

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merged 5 commits into from
Oct 29, 2023
Merged

Feature/start from mid #71

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c6390a0
Add args for initial position
koki0624 Oct 26, 2023
23c0e86
Add arg for start_from_mid param
koki0624 Oct 26, 2023
1307e43
Add arg from_middle to multi_map_navigation.launch
koki0624 Oct 26, 2023
8236d63
apply format
koki0624 Oct 26, 2023
db1fc8d
Update multi_map_navigation.launch.xml
Alpaca-zip Oct 29, 2023
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5 changes: 4 additions & 1 deletion orange_gazebo/launch/orange_hosei.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="world_file_path" default="$(find-pkg-share orange_gazebo)/worlds/orange_hosei.world"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="yaw" default="0.0"/>
<!-- pointcloud_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
Expand Down Expand Up @@ -49,7 +52,7 @@
<param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
</node>
<!-- spawn_entity -->
<node pkg="gazebo_ros" exec="spawn_entity.py" args="-entity orange_robot -topic /robot_description">
<node pkg="gazebo_ros" exec="spawn_entity.py" args="-entity orange_robot -topic /robot_description -x $(var x) -y $(var y) -Y $(var yaw)">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
2 changes: 2 additions & 0 deletions orange_navigation/launch/multi_map_navigation.launch.xml
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Expand Up @@ -11,6 +11,7 @@
<arg name="robot_frame" default="base_footprint"/>
<arg name="min_dist_err" default="0.3"/>
<arg name="min_yaw_err" default="0.3"/>
<arg name="from_middle" default="false"/>
<arg name="tandem_scan" default="merged_scan"/>
<arg name="use_angle" default="20.0"/>
<arg name="danger_dist" default="2.0"/>
Expand All @@ -30,6 +31,7 @@
<arg name="robot_frame" value="$(var robot_frame)"/>
<arg name="min_dist_err" value="$(var min_dist_err)"/>
<arg name="min_yaw_err" value="$(var min_yaw_err)"/>
<arg name="from_middle" value="$(var from_middle)"/>
<arg name="tandem_scan" value="$(var tandem_scan)"/>
<arg name="use_angle" value="$(var use_angle)"/>
<arg name="danger_dist" value="$(var danger_dist)"/>
Expand Down
2 changes: 2 additions & 0 deletions orange_navigation/launch/waypoint_navigation.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
<arg name="robot_frame" default="base_footprint"/>
<arg name="min_dist_err" default="0.3"/>
<arg name="min_yaw_err" default="0.3"/>
<arg name="from_middle" default="false"/>
<arg name="tandem_scan" default="merged_scan"/>
<arg name="use_angle" default="20.0"/>
<arg name="danger_dist" default="2.0"/>
Expand All @@ -29,6 +30,7 @@
<arg name="robot_frame" value="$(var robot_frame)"/>
<arg name="min_dist_err" value="$(var min_dist_err)"/>
<arg name="min_yaw_err" value="$(var min_yaw_err)"/>
<arg name="from_middle" value="$(var from_middle)"/>
<arg name="tandem_scan" value="$(var tandem_scan)"/>
<arg name="use_angle" value="$(var use_angle)"/>
<arg name="danger_dist" value="$(var danger_dist)"/>
Expand Down