git commit -m "first commit"
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130
simulators/sim_env/launch/include/navigation/move_base.launch.xml
Executable file
130
simulators/sim_env/launch/include/navigation/move_base.launch.xml
Executable file
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<!--
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******************************************************************************************
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* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
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* *
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* @brief move base module parameter configure. *
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* @author Haodong Yang, *
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* @version 1.0.0 *
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* @date 2022.06.30 *
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* @license GNU General Public License (GPL) *
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******************************************************************************************
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-->
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<launch>
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<!-- robot's namespace -->
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<arg name="robot_namespace" />
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<!-- whether use namespace or not -->
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<arg name="start_ns" default="false" />
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<!-- robot's type -->
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<arg name="robot" default="turtlebot3_waffle" />
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<!-- global path planner name -->
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<arg name="global_planner" default="a_star" />
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<!-- local planner name -->
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<arg name="local_planner" default="dwa" />
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<!-- move base module -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<!-- global planner plugin -->
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<!-- graph search -->
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<param name="base_global_planner" value="graph_planner/GraphPlanner"
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if="$(eval arg('global_planner')=='a_star'
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or arg('global_planner')=='jps'
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or arg('global_planner')=='gbfs'
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or arg('global_planner')=='dijkstra'
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or arg('global_planner')=='d_star'
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or arg('global_planner')=='lpa_star'
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or arg('global_planner')=='voronoi'
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or arg('global_planner')=='d_star_lite')" />
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<param name="GraphPlanner/planner_name" value="$(arg global_planner)"
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if="$(eval arg('global_planner')=='a_star'
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or arg('global_planner')=='jps'
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or arg('global_planner')=='gbfs'
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or arg('global_planner')=='dijkstra'
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or arg('global_planner')=='d_star'
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or arg('global_planner')=='lpa_star'
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or arg('global_planner')=='voronoi'
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or arg('global_planner')=='d_star_lite')" />
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<rosparam file="$(find sim_env)/config/planner/graph_planner_params.yaml" command="load"
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if="$(eval arg('global_planner')=='a_star'
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or arg('global_planner')=='jps'
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or arg('global_planner')=='gbfs'
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or arg('global_planner')=='dijkstra'
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or arg('global_planner')=='d_star'
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or arg('global_planner')=='lpa_star'
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or arg('global_planner')=='voronoi'
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or arg('global_planner')=='d_star_lite')"/>
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<!-- sample search -->
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<param name="base_global_planner" value="sample_planner/SamplePlanner"
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if="$(eval arg('global_planner')=='rrt'
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or arg('global_planner')=='rrt_star'
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or arg('global_planner')=='informed_rrt'
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or arg('global_planner')=='rrt_connect')" />
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<param name="SamplePlanner/planner_name" value="$(arg global_planner)"
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if="$(eval arg('global_planner')=='rrt'
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or arg('global_planner')=='rrt_star'
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or arg('global_planner')=='informed_rrt'
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or arg('global_planner')=='rrt_connect')" />
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<rosparam file="$(find sim_env)/config/planner/sample_planner_params.yaml" command="load"
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if="$(eval arg('global_planner')=='rrt'
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or arg('global_planner')=='rrt_star'
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or arg('global_planner')=='informed_rrt'
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or arg('global_planner')=='rrt_connect')"/>
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<!-- evolutionary search -->
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<param name="base_global_planner" value="evolutionary_planner/EvolutionaryPlanner"
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if="$(eval arg('global_planner')=='aco'
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or arg('global_planner')=='ga')" />
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<param name="EvolutionaryPlanner/planner_name" value="$(arg global_planner)"
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if="$(eval arg('global_planner')=='aco'
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or arg('global_planner')=='ga')" />
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<rosparam file="$(find sim_env)/config/planner/evolutionary_planner_params.yaml" command="load"
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if="$(eval arg('global_planner')=='aco'
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or arg('global_planner')=='ga')"/>
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<!-- local planner plugin -->
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<param name="base_local_planner" value="dwa_planner/DWAPlanner"
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if="$(eval arg('local_planner')=='dwa')" />
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<rosparam file="$(find sim_env)/config/planner/dwa_planner_params.yaml" command="load"
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if="$(eval arg('local_planner')=='dwa')" />
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<param name="base_local_planner" value="pid_planner/PIDPlanner"
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if="$(eval arg('local_planner')=='pid')" />
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<rosparam file="$(find sim_env)/config/planner/pid_planner_params.yaml" command="load"
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if="$(eval arg('local_planner')=='pid')" />
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<!-- loading navigation parameters -->
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<rosparam
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file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
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+ arg('robot') + '.yaml')"
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command="load" ns="global_costmap" />
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<rosparam
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file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
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+ arg('robot') + '.yaml')"
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command="load" ns="local_costmap" />
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<rosparam file="$(find sim_env)/config/costmap/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find sim_env)/config/costmap/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find sim_env)/config/move_base_params.yaml" command="load" />
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<!-- set coordinate transformation namespace -->
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<param name="global_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
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if="$(arg start_ns)" />
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<param name="global_costmap/obstacle_layer/scan/sensor_frame"
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value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
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<param name="global_costmap/global_frame" value="map" />
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<param name="global_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
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if="$(arg start_ns)" />
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<param name="local_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
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if="$(arg start_ns)" />
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<param name="local_costmap/obstacle_layer/scan/sensor_frame"
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value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
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<param name="local_costmap/global_frame" value="$(arg robot_namespace)/odom"
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if="$(arg start_ns)" />
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<param name="local_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
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if="$(arg start_ns)" />
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<!-- centralize map -->
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<remap from="map" to="/map" />
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</node>
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</launch>
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