From 3691089217c9c5dc68437fe60f8c422246929856 Mon Sep 17 00:00:00 2001
From: Shokman <shokman88@gmail.com>
Date: Thu, 11 Feb 2016 17:57:03 +0000
Subject: [PATCH] Some more work on navigation

---
 src/papa_navigation/launch/includes/move_base.launch.xml | 3 ++-
 src/papa_navigation/param/costmap_common_params.yaml     | 9 +--------
 src/papa_navigation/param/global_costmap_params.yaml     | 6 ++++--
 src/papa_navigation/param/local_costmap_params.yaml      | 6 +++---
 4 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/src/papa_navigation/launch/includes/move_base.launch.xml b/src/papa_navigation/launch/includes/move_base.launch.xml
index 8e1fe81..52eb669 100644
--- a/src/papa_navigation/launch/includes/move_base.launch.xml
+++ b/src/papa_navigation/launch/includes/move_base.launch.xml
@@ -31,7 +31,8 @@
     <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
     <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
 
-    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
+    <!-- <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/> -->
+    <remap from="cmd_vel" to="cmd_vel"/>
     <remap from="odom" to="$(arg odom_topic)"/>
     <remap from="scan" to="$(arg laser_topic)"/>
   </node>
diff --git a/src/papa_navigation/param/costmap_common_params.yaml b/src/papa_navigation/param/costmap_common_params.yaml
index 1868655..2f55890 100644
--- a/src/papa_navigation/param/costmap_common_params.yaml
+++ b/src/papa_navigation/param/costmap_common_params.yaml
@@ -22,7 +22,7 @@ obstacle_layer:
   z_resolution: 0.2
   z_voxels: 2
   publish_voxel_map: false
-  observation_sources:  scan bump
+  observation_sources:  scan
   scan:
     data_type: LaserScan
     topic: scan
@@ -30,13 +30,6 @@ obstacle_layer:
     clearing: true
     min_obstacle_height: 0.25
     max_obstacle_height: 0.35
-  bump:
-    data_type: PointCloud2
-    topic: mobile_base/sensors/bumper_pointcloud
-    marking: true
-    clearing: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.15
   # for debugging only, let's you see the entire voxel grid
 
 #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
diff --git a/src/papa_navigation/param/global_costmap_params.yaml b/src/papa_navigation/param/global_costmap_params.yaml
index 56b23c7..96a1e7a 100644
--- a/src/papa_navigation/param/global_costmap_params.yaml
+++ b/src/papa_navigation/param/global_costmap_params.yaml
@@ -1,8 +1,10 @@
 global_costmap:
+   height: 50
+   width: 50
    global_frame: /map
    robot_base_frame: /base_footprint
-   update_frequency: 1.0
-   publish_frequency: 0.5
+   update_frequency: 2.0
+   publish_frequency: 2.0
    static_map: true
    transform_tolerance: 0.5
    plugins:
diff --git a/src/papa_navigation/param/local_costmap_params.yaml b/src/papa_navigation/param/local_costmap_params.yaml
index b422ee1..95e6258 100644
--- a/src/papa_navigation/param/local_costmap_params.yaml
+++ b/src/papa_navigation/param/local_costmap_params.yaml
@@ -3,12 +3,12 @@ local_costmap:
    robot_base_frame: /base_footprint
    update_frequency: 5.0
    publish_frequency: 2.0
-   static_map: false
-   rolling_window: true
+   static_map: true
+   rolling_window: false
    width: 4.0
    height: 4.0
    resolution: 0.05
    transform_tolerance: 0.5
    plugins:
     - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
-    - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
\ No newline at end of file
+    - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}