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Updated rviz config with map from hector
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,57 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
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| <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="true"/> | ||
| <arg name="scan_subscriber_queue_size" default="5"/> | ||
| <arg name="scan_topic" default="/agri_mapper/scan"/> | ||
| <arg name="map_size" default="2048"/> | ||
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| <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> | ||
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| <!-- Frame names --> | ||
| <param name="map_frame" value="map"/> | ||
| <param name="base_frame" value="$(arg base_frame)"/> | ||
| <param name="odom_frame" value="$(arg odom_frame)"/> | ||
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| <!-- 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="$(arg pub_map_odom_transform)"/> | ||
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| <!-- Map size / start point --> | ||
| <param name="map_resolution" value="0.050"/> | ||
| <param name="map_size" value="$(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"/> | ||
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| <!-- 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"/> | ||
| <param name="laser_min_dist" value="0.6"/> | ||
| <param name="laser_max_dist" value="18.0"/> | ||
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| <!-- Advertising config --> | ||
| <param name="advertise_map_service" value="true"/> | ||
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| <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/> | ||
| <param name="scan_topic" value="$(arg scan_topic)"/> | ||
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| <!-- Debug parameters --> | ||
| <!-- | ||
| <param name="output_timing" value="false"/> | ||
| <param name="pub_drawings" value="true"/> | ||
| <param name="pub_debug_output" value="true"/> | ||
| <include file="$(find hector_mapping)/launch/mapping_default.launch"> | ||
| <arg name="base_frame" value="base_link"/> | ||
| <arg name="odom_frame" value="base_link"/> | ||
| <arg name="pub_map_odom_transform" value="true"/> | ||
| <arg name="scan_topic" value="/agri_mapper/scan"/> | ||
| <arg name="map_size" value="2048"/> | ||
| </include> | ||
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| <!-- | ||
| <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> | ||
| <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> | ||
| <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/> | ||
| </include> | ||
| --> | ||
| <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)"/> | ||
| </node> | ||
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| <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>--> | ||
| </launch> |
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