f808bc404a
* Baby steps * Compile without implementations * Compile combined_grids * Compile part of principal node map_merge.cpp * Finish 90% of main node * Move ros::names implementation to own file * Replace ros1 while loops threads with ros2 timers * Fix checking of map type for adding robots. bypass mutex for now * Working version without init poses, still verbose logs * Add namespace to explore_lite Add tb3 launch files for multirobot tests Finish multirobot map merge with poses known * Add files for tb3 demo * Fix launch file for demo with robot poses * Fix comments on locking * Change deprecated Ptr to SharedPtr in ros2 msgs variables * Change ConstPtr to ConstSharedPtr for ROS2 * Fix minor warnings in explor_lite * Attempt fix slam toolbox * Add launch and remove old ones * Add copyright * Add readme with instruction on how to run the demo in sim * Fix readme and port from_map_server launch file * Fix QoS for suscriptions with TRansientlocal
24 lines
722 B
YAML
24 lines
722 B
YAML
map_merge:
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ros__parameters:
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merging_rate: 4.0
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discovery_rate: 0.05
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estimation_rate: 0.5
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estimation_confidence: 0.6
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robot_map_topic: map
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robot_map_updates_topic: map_udpates
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robot_namespace: ""
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merged_map_topic: map
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world_frame: world
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known_init_poses: true
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# known_init_poses: false
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# Define here robots' positions in the map if known_init_poses is true
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/robot1/map_merge/init_pose_x: 0.0
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/robot1/map_merge/init_pose_y: 0.0
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/robot1/map_merge/init_pose_z: 0.0
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/robot1/map_merge/init_pose_yaw: 0.0
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/robot2/map_merge/init_pose_x: -3.0
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/robot2/map_merge/init_pose_y: 1.0
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/robot2/map_merge/init_pose_z: 0.0
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/robot2/map_merge/init_pose_yaw: 0.0 |