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Adding launch scripts for hfn and simulation #2

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Adding launch scripts for hfn and simulation #2

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40 changes: 40 additions & 0 deletions scarab/hfn.launch
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<launch>
<arg name="robot" default="scarab0" />
<arg name="map" default="/map" />
<arg name="odom" default="/odom_laser" />
<arg name="base_frame" default="$(arg robot)/base_link" />
<arg name="map_frame" default="map_hokuyo" />

<node name="pose" pkg="hfn" type="tf_posestamped_node.py">
<param name="base_frame_id" value="$(arg base_frame)"/>
<param name="map_frame_id" value="$(arg map_frame)"/>
</node>
<node name="hfn" pkg="hfn" type="hfn">
<param name="base_frame_id" value="$(arg base_frame)" />
<param name="map_frame_id" value="$(arg map_frame)" />

<param name="tau_1" value="1.0" />
<param name="tau_2" value="0.2" />
<!-- old and good -->
<!-- <param name="tau_1" value="1.5" /> -->
<!-- <param name="tau_2" value="0.3" /> -->
<param name="cost_occ_prob" value="0.01" />
<param name="cost_occ_dist" value="0.15" />
<param name="max_occ_dist" value="0.5" />
<param name="lethal_occ_dist" value="0.35" />

<param name="v_opt" value="0.5" />
<param name="w_max" value="1.0" />
<!-- 0.0873 rad ~= 5 degrees -->
<!-- <param name="goal_tolerance_ang" value="0.0873" /> -->
<param name="goal_tolerance_ang" value="0.2" />
<param name="min_map_update" value="2.0" />
<param name="stuck_start" value="3.0" />
<remap from="odom" to="$(arg robot)/odom_motor" />
<remap from="map" to="$(arg map)" />
<param name="stop_on_preempt" value="false" />
<remap from="cmd_vel" to="$(arg robot)/cmd_vel" />
</node>

<node name="goal_to_action" pkg="hfn" type="goal_to_action.py" />
</launch>
48 changes: 48 additions & 0 deletions scarab/simulation.launch
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<launch>

<arg name="robot" default="scarab0" />
<arg name="map" default="/map" />
<arg name="odom" default="/odom_laser" />
<arg name="base_frame" default="base_link" />
<arg name="map_frame" default="map_hokuyo" />

<node name="map" pkg="map_server" type="map_server" output="screen"
args="$(find scarab)/maps/levine-4.yaml" >
<param name="frame_id" value="$(arg map_frame)" />
</node>

<node name="kinematic_sim" pkg="kinematic_sim" type="kinematic_sim"
output="screen" respawn="false">
<param name="publish_freq" value="10"/>
<param name="pub_global_frame" value="true"/>

<param name="base_frame_id" value="$(arg base_frame)"/>
<param name="global_frame_id" value="$(arg map_frame)"/>

<param name="noise_x_sd" value="0.0"/>
<param name="noise_y_sd" value="0.0"/>
<param name="noise_th_sd" value="0.0"/>

<param name="num_agents" value="1"/>

<param name="initial0" value="0.00 0.00 0.00"/>
</node>

<node name="laser" pkg="laser_simulator" type="laser_simulator"
output="screen" respawn="false">
<param name="frame_id" value="$(arg robot)/$(arg base_frame)"/>
<param name="offset/x" value="0.0"/>
<param name="offset/y" value="0.0"/>
<param name="offset/z" value="0.2"/>

<param name="noise_sd" value="0.003"/>

<rosparam file="$(find laser_simulator)/models/UTM_30.yaml" command="load" />
<rosparam file="$(find laser_simulator)/config/models.yaml" command="load" />

<remap from="~map" to="$(arg map)"/>
<remap from="~odom" to="/$(arg robot)/gt_odom"/>
<remap from="~scan" to="/scan" />
</node>

</launch>