Changed test launch files due to using costmaps

nobleo · Aug 3, 2021 · 8a446b3 · 8a446b3
1 parent b401969
commit 8a446b3
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Showing 4 changed files with 33 additions and 2 deletions.
diff --git a/test/full_coverage_path_planner/param/costmap_common_params.yaml b/test/full_coverage_path_planner/param/costmap_common_params.yaml
@@ -0,0 +1,19 @@
+transform_tolerance: 0.2
+
+map_topic: map
+
+footprint: [[0.46, 0.28], [-0.50, 0.28], [-0.50, -0.28], [0.46, -0.28]]
+footprint_padding: 0.05
+inflation_radius: 0.55
+
+#observation_sources: point_cloud_sensor
+#obstacle_range: 2.5
+#raytrace_range: 3.0
+#point_cloud_sensor: { sensor_frame: d435i_link,
+#                      data_type: PointCloud2,
+#                      topic: /points_filtered,
+#                      marking: true,
+#                      clearing: true,
+#                      expected_update_rate: 1.0
+#                      max_obstacle_height: 0.75
+#                      min_obstacle_height: 0.05 }
diff --git a/test/full_coverage_path_planner/param/global_costmap_params.yaml b/test/full_coverage_path_planner/param/global_costmap_params.yaml
@@ -0,0 +1,7 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: base_link
+  update_frequency: 5.0
+  publish_frequency: 1.0
+  static_map: true
+  always_send_full_costmap: true
diff --git a/test/full_coverage_path_planner/param/local_costmap_params.yaml b/test/full_coverage_path_planner/param/local_costmap_params.yaml
@@ -1,10 +1,10 @@
 local_costmap:
    global_frame: odom
    robot_base_frame: base_link
-   update_frequency: 10.0
+   update_frequency: 5.0
    publish_frequency: 5.0
    width: 5.0
    height: 5.0
    resolution: 0.05
    static_map: false
-   rolling_window: true
+   rolling_window: true
diff --git a/test/full_coverage_path_planner/test_full_coverage_path_planner.launch b/test/full_coverage_path_planner/test_full_coverage_path_planner.launch
@@ -15,10 +15,14 @@
     <node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
         <param name="tf_timeout" value="1.5"/>
         <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
+        <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/costmap_common_params.yaml" command="load" ns="global_costmap"/>
+        <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/costmap_common_params.yaml" command="load" ns="local_costmap"/>
+        <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/global_costmap_params.yaml" command="load" />
         <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
         <param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
         <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
         <param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
+<!--        <param name="planner_frequency" value="2"/>-->
         <remap from="odom" to="/odom"/>
         <remap from="scan" to="/scan"/>
 
@@ -29,6 +33,7 @@
     <!-- Move Base backwards compatibility -->
     <node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base" >
         <param name="base_global_planner" value="SpiralSTC" />
+        <param name="planner_frequency" value="2"/>
     </node>
 
     <!-- Mobile robot simulator -->