Commit 507c2c72 authored by Robot5's avatar Robot5
Browse files

Fixing tf, launch files and renaming map

parent f038d106
......@@ -3,6 +3,7 @@
<!-- Start rosbag with launchfile-->
<arg name="run_bag" default="false" />
<arg name="publish_map" default="false" />
<!-- Absolute Path to map to be used for localization. The map needs to be built by graph_fuser package -->
<arg name="map_file_path" default="$(find graph_map)/maps/ndt_map.MAP" />
<arg name="robot_prefix" default="robot5" />
......@@ -45,7 +46,7 @@
<param name="pose_init_t" value="0" />
<!-- world frame id -->
<param name="root_tf" value="world" />
<param name="root_tf" value="map_laser2d" />
<!-- odometry frame id-->
<param name="odom_tf" value="$(arg robot_prefix)/odom" />
<param name="base_tf" value="$(arg robot_prefix)/base_footprint" />
......@@ -60,11 +61,11 @@
<param name="show_pose" value="true"/>
<param name="fraction" value="1.0"/>
<param name="force_SIR" value="true" />
<param name="z_filter_height" value="1.0" />
<param name="z_filter_height" value="1.5" />
</node>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/occupancy_map.yaml" output="screen">
<remap from="/map" to="/maps/map_laser2d"/>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/ncfm.yaml" output="screen" if="$(arg publish_map)">
<remap from="/map" to="/maps/map_laser2d"/>
</node>
<group if="$(arg rviz_enabled)">
......@@ -82,7 +83,8 @@
<arg name="file_1" default="2018-05-18-09-55-16.bag" />
<node pkg="rosbag" type="play" name="player" output="screen" args="--clock -r 1.0 -q $(arg path)$(arg file_1)"/>
</group>
<node pkg="tf" type="static_transform_publisher" name="velodyne_map_static_broadcaster" args="0 0 0 0 0 0 world map_velodyne 100" />
<node pkg="tf" type="static_transform_publisher" name="occupancy_map_static_broadcaster" args="0 0 0 0 0 0 world map 100" />
<!-- node pkg="tf" type="static_transform_publisher" name="velodyne_map_static_broadcaster" args="0 0 0 0 0 0 world map_velodyne 100" / -->
<!-- node pkg="tf" type="static_transform_publisher" name="occupancy_map_static_broadcaster" args="0 0 0 0 0 0 world map 100" / -->
</launch>
......@@ -176,8 +176,8 @@ bool MCLNDTType::UpdateAndPredict(pcl::PointCloud<pcl::PointXYZ> &cloud, const E
Eigen::Affine3d Tlast=graph_map_->GetCurrentNodePose()*pf.getMean();
bool disable_prediciton_noise=false; // if there os
if( (Tlast.translation()-pose_last_update_.translation()).norm()<0.01 && (pose_last_update_.inverse()*Tlast).rotation().eulerAngles(0,1,2).norm()<0.005 )
disable_prediciton_noise=true;
//if( (Tlast.translation()-pose_last_update_.translation()).norm()<0.01 && (pose_last_update_.inverse()*Tlast).rotation().eulerAngles(0,1,2).norm()<0.005 )
// disable_prediciton_noise=true;
OdometryPrediction(Tmotion,disable_prediciton_noise);
Eigen::Affine3d Tinit=graph_map_->GetCurrentNodePose()*pf.getMean();
......
image: occupancy_map.pgm
image: ncfm.pgm
resolution: 0.150000
origin: [-17.85, -37.350002, 0.0]
negate: 0
......
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