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 | 1 | initial version |
Here is my configuration, actually I tried to set the Parameter directly from the code (to make sure that no launch file overwrites the parameters).
nh.setParam("/move_base/local_costmap/update_frequency",1); nh.setParam("/move_base/local_costmap/static_map",false); nh.setParam("/move_base/local_costmap/rolling_window",true); nh.setParam("/move_base/local_costmap/width",10); nh.setParam("/move_base/local_costmap/height",10); nh.setParam("/move_base/local_costmap/track_unknown_space",true); nh.setParam("/move_base/local_costmap/obstacle_range",10); nh.setParam("/move_base/local_costmap/raytrace_range",10); nh.setParam("/move_base/local_costmap/unknown_cost_value",255); nh.setParam("/move_base/local_costmap/unknown_threshold",255); nh.setParam("/move_base/local_costmap/publish_frequency",1);
nh.setParam("/move_base/global_costmap/update_frequency",1); nh.setParam("/move_base/global_costmap/static_map",true); nh.setParam("/move_base/global_costmap/rolling_window",false); nh.setParam("/move_base/global_costmap/width",200); nh.setParam("/move_base/global_costmap/height",200); nh.setParam("/move_base/global_costmap/track_unknown_space",true); nh.setParam("/move_base/global_costmap/obstacle_range",10); nh.setParam("/move_base/global_costmap/raytrace_range",10); nh.setParam("/move_base/global_costmap/unknown_cost_value",255); nh.setParam("/move_base/global_costmap/unknown_threshold",255); nh.setParam("/move_base/global_costmap/publish_frequency",1); nh.setParam("/move_base/TrajectoryPlannerROS/xy_goal_tolerance",0.1); nh.setParam("/move_base/TrajectoryPlannerROS/goal_distance_bias",0.5); nh.setParam("/move_base/TrajectoryPlannerROS/path_distance_bias",0.8);
nh.setParam("/slam_gmapping/map_update_interval",1); nh.setParam("/slam_gmapping/temporalUpdate",1); nh.setParam("/slam_gmapping/angularUpdate",1);
I know that this solution may not be the best but all Parameters are set the way I want them to be set during run time.
Thanks for all your contributions!
BR, Daniel
| | 2 | No.2 Revision |
Here is my configuration, actually I tried to set the Parameter directly from the code (to make sure that no launch file overwrites the parameters).
nh.setParam("/move_base/local_costmap/update_frequency",1);
nh.setParam("/move_base/local_costmap/static_map",false);
nh.setParam("/move_base/local_costmap/rolling_window",true);
nh.setParam("/move_base/local_costmap/width",10);
nh.setParam("/move_base/local_costmap/width",10);
nh.setParam("/move_base/local_costmap/height",10);
nh.setParam("/move_base/local_costmap/track_unknown_space",true);
nh.setParam("/move_base/local_costmap/obstacle_range",10);
nh.setParam("/move_base/local_costmap/raytrace_range",10);
nh.setParam("/move_base/local_costmap/unknown_cost_value",255);
nh.setParam("/move_base/local_costmap/unknown_threshold",255);
nh.setParam("/move_base/local_costmap/publish_frequency",1);
nh.setParam("/move_base/global_costmap/update_frequency",1);
nh.setParam("/move_base/global_costmap/static_map",true);
nh.setParam("/move_base/global_costmap/rolling_window",false);
nh.setParam("/move_base/global_costmap/width",200);
nh.setParam("/move_base/global_costmap/width",200);
nh.setParam("/move_base/global_costmap/height",200);
nh.setParam("/move_base/global_costmap/track_unknown_space",true);
nh.setParam("/move_base/global_costmap/obstacle_range",10);
nh.setParam("/move_base/global_costmap/raytrace_range",10);
nh.setParam("/move_base/global_costmap/unknown_cost_value",255);
nh.setParam("/move_base/global_costmap/unknown_threshold",255);
nh.setParam("/move_base/global_costmap/publish_frequency",1);
nh.setParam("/move_base/global_costmap/publish_frequency",1);
nh.setParam("/move_base/TrajectoryPlannerROS/xy_goal_tolerance",0.1); nh.setParam("/move_base/TrajectoryPlannerROS/goal_distance_bias",0.5); nh.setParam("/move_base/TrajectoryPlannerROS/path_distance_bias",0.8);
nh.setParam("/slam_gmapping/map_update_interval",1);
nh.setParam("/slam_gmapping/temporalUpdate",1);
nh.setParam("/slam_gmapping/map_update_interval",1);
nh.setParam("/slam_gmapping/temporalUpdate",1);
nh.setParam("/slam_gmapping/angularUpdate",1);
I know that this solution may not be the best but all Parameters are set the way I want them to be set during run time.
Thanks for all your contributions!
BR, Daniel
| | 3 | No.3 Revision |
Here is my configuration, actually I tried to set the Parameter parameters directly from the code (to make sure that no launch file overwrites the parameters).
nh.setParam("/move_base/local_costmap/update_frequency",1);
nh.setParam("/move_base/local_costmap/static_map",false);
nh.setParam("/move_base/local_costmap/rolling_window",true);
nh.setParam("/move_base/local_costmap/width",10);
nh.setParam("/move_base/local_costmap/height",10);
nh.setParam("/move_base/local_costmap/track_unknown_space",true);
nh.setParam("/move_base/local_costmap/obstacle_range",10);
nh.setParam("/move_base/local_costmap/raytrace_range",10);
nh.setParam("/move_base/local_costmap/unknown_cost_value",255);
nh.setParam("/move_base/local_costmap/unknown_threshold",255);
nh.setParam("/move_base/local_costmap/publish_frequency",1);
nh.setParam("/move_base/global_costmap/update_frequency",1);
nh.setParam("/move_base/global_costmap/static_map",true);
nh.setParam("/move_base/global_costmap/rolling_window",false);
nh.setParam("/move_base/global_costmap/width",200);
nh.setParam("/move_base/global_costmap/height",200);
nh.setParam("/move_base/global_costmap/track_unknown_space",true);
nh.setParam("/move_base/global_costmap/obstacle_range",10);
nh.setParam("/move_base/global_costmap/raytrace_range",10);
nh.setParam("/move_base/global_costmap/unknown_cost_value",255);
nh.setParam("/move_base/global_costmap/unknown_threshold",255);
nh.setParam("/move_base/global_costmap/publish_frequency",1);
nh.setParam("/move_base/TrajectoryPlannerROS/xy_goal_tolerance",0.1); nh.setParam("/move_base/TrajectoryPlannerROS/goal_distance_bias",0.5); nh.setParam("/move_base/TrajectoryPlannerROS/path_distance_bias",0.8);
nh.setParam("/slam_gmapping/map_update_interval",1);
nh.setParam("/slam_gmapping/temporalUpdate",1);
nh.setParam("/slam_gmapping/angularUpdate",1);
I know that this solution may not be the best but all Parameters parameters are set the way I want them to be set during run time.
Thanks for all your contributions!
BR, Daniel
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