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Improve fetch's move base by fetchrobotics's default params #1456

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merged 9 commits into from
May 24, 2022
Merged

Improve fetch's move base by fetchrobotics's default params #1456

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374b706
Speedup inflation layer update
708yamaguchi Jul 14, 2021
e0e6186
Add TrajectoryPlannerROS default parameters
708yamaguchi Jul 14, 2021
76a7d5d
Speedup control loop and map update loop in move_base
708yamaguchi Jul 14, 2021
db7dcf9
Fix local name typo
708yamaguchi Jul 14, 2021
5154ce9
Revert "Speedup control loop and map update loop in move_base"
708yamaguchi Jul 15, 2021
32391ec
Use fetchrobotics's move_base param by default
708yamaguchi Jul 15, 2021
c7e125b
Do not clear costmap when returning from kitchen
708yamaguchi Jul 15, 2021
30b4427
Seperate fetch15 move_base param and fetch1075 move_base param
708yamaguchi Jul 15, 2021
75c0866
Relay move_base plan names
708yamaguchi Jul 15, 2021
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6 changes: 3 additions & 3 deletions jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
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Original file line number Diff line number Diff line change
Expand Up @@ -55,9 +55,9 @@ plugins:
- /odom
- /odom_combined
- /cmd_vel
- /move_base/NavFnROS/plan
- /move_base/TrajectoryPlannerROS/global_plan
- /move_base/TrajectoryPlannerROS/local_plan
- /move_base/navigation_plan_viz
- /move_base/global_plan_viz
- /move_base/local_plan_viz
- /move_base/global_costmap/footprint
- /spots_marker_array
- /spots_pictogram
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6 changes: 3 additions & 3 deletions jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/NavfnROS/plan
Topic: /move_base/navigation_plan_viz
Unreliable: false
Value: true
- Alpha: 1
Expand All @@ -263,7 +263,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Topic: /move_base/global_plan_viz
Unreliable: false
Value: true
- Alpha: 1
Expand All @@ -286,7 +286,7 @@ Visualization Manager:
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/local_plan
Topic: /move_base/local_plan_viz
Unreliable: false
Value: true
- Alpha: 1
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