HiepLM/pnkx_nav_core
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HiepLM
2026-03-02 07:50:30 +00:00
parent ff8a90cbaa
commit 06c2d01b4a
61 changed files with 2934 additions and 1012 deletions
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2
config/mprim/ekf.yaml
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@@ -62,7 +62,7 @@ publish_acceleration: false
# estimation node from robot_localization! However, that instance should *not* fuse the global data.
map_frame: map # Defaults to "map" if unspecified
odom_frame: $(arg tf_prefix)odom # Defaults to "odom" if unspecified
base_link_frame: $(arg tf_prefix)base_footprint # Defaults to "base_link" if unspecified
base_link_frame: $(arg tf_prefix)base_link # Defaults to "base_link" if unspecified
world_frame: $(arg tf_prefix)odom # Defaults to the value of odom_frame if unspecified
# The filter accepts an arbitrary number of inputs from each input message type (robot_nav_msgs/Odometry,

2
config/mprim/localization.yaml
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@@ -25,7 +25,7 @@ Amcl:
update_min_d: 0.05
update_min_a: 0.05
odom_frame_id: odom
base_frame_id: base_footprint
base_frame_id: base_link
global_frame_id: map
resample_interval: 1
transform_tolerance: 0.2

2
config/mprim/ros_diff_drive_controller.yaml
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@@ -25,7 +25,7 @@ wheel_radius_multiplier : 1.0 # default: 1.0
cmd_vel_timeout: 1.0
# frame_ids (same as real MiR platform)
base_frame_id: base_footprint # default: base_link base_footprint
base_frame_id: base_link # default: base_link base_link
odom_frame_id: odom # default: odom
# Velocity and acceleration limits