sla

hector_mapping/launch/mapping_fred.launch

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
+  <arg name="base_frame" default="base_link"/>
+  <arg name="odom_frame" default="odom"/>
+  <arg name="pub_map_odom_transform" default="false"/>
+  <arg name="scan_subscriber_queue_size" default="5"/>
+  <arg name="scan_topic" default="scan"/>
+  <arg name="map_size" default="2048"/>
+
+  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
+
+    <!-- Frame names -->
+    <param name="map_frame" value="map" />
+    <param name="base_frame" value="$(arg base_frame)" />
+    <param name="odom_frame" value="$(arg odom_frame)" />
+
+    <!-- Tf use -->
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
+
+    <!-- Map size / start point -->
+    <param name="map_resolution" value="0.050"/>
+    <param name="map_size" value="$(arg map_size)"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5" />
+    <param name="map_multi_res_levels" value="2" />
+
+    <!-- Map update parameters -->
+    <param name="update_factor_free" value="0.4"/>
+    <param name="update_factor_occupied" value="0.9" />    
+    <param name="map_update_distance_thresh" value="0.4"/>
+    <param name="map_update_angle_thresh" value="0.06" />
+    <param name="laser_z_min_value" value = "-1.0" />
+    <param name="laser_z_max_value" value = "1.0" />
+
+    <!-- Advertising config --> 
+    <param name="advertise_map_service" value="true"/>
+
+    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
+    <param name="scan_topic" value="$(arg scan_topic)"/>
+
+    <!-- Debug parameters -->
+    <!--
+      <param name="output_timing" value="false"/>
+      <param name="pub_drawings" value="true"/>
+      <param name="pub_debug_output" value="true"/>
+    -->
+    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
+  </node>
+
+ <!-- <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/> -->
+</launch>
+
+