mirror of
https://github.com/mitre/Fast-RRT-Star.git
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59 lines
3.4 KiB
XML
59 lines
3.4 KiB
XML
<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file description.launch
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Prasenjit Mukherjee <pmukherj@clearpathrobotics.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE
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)ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<arg name="no_static_map" default="false"/>
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<arg name="base_global_planner" default="fast_rrt_star_planner/Fast_RRTStarPlanner"/>
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<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>
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<!-- <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<param name="base_global_planner" value="$(arg base_global_planner)"/>
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<param name="base_local_planner" value="$(arg base_local_planner)"/>
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<rosparam file="$(find husky_navigation)/config/planner.yaml" command="load"/>
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<!-- observation sources located in costmap_common.yaml -->
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<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
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<!-- local costmap, needs size -->
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<rosparam file="$(find husky_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
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<param name="local_costmap/width" value="10.0"/>
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<param name="local_costmap/height" value="10.0"/>
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<!-- static global costmap, static map provides size -->
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<rosparam file="$(find husky_navigation)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>
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<!-- global costmap with laser, for odom_navigation_demo -->
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<rosparam file="$(find husky_navigation)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
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<param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
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<param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>
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</node>
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</launch>
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