itec room map

butia-bots · Sep 9, 2023 · b9dceb7 · b9dceb7
1 parent bef2d8f
commit b9dceb7
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Showing 4 changed files with 14 additions and 2 deletions.
diff --git a/butia_navigation_description/config/param/dwa_local_planner_params.yaml b/butia_navigation_description/config/param/dwa_local_planner_params.yaml
@@ -1,7 +1,7 @@
 DWAPlannerROS:
 
 # Robot Configuration Parameters - Kobuki
-  max_vel_x: 0.5  ## 0.55
+  max_vel_x: 0.4  ## 0.55
   min_vel_x: 0  ##
 
   max_vel_y: 0.0  # diff drive robot

diff --git a/butia_navigation_gazebo/maps/sala_itec.pgm b/butia_navigation_gazebo/maps/sala_itec.pgm
diff --git a/butia_navigation_gazebo/maps/sala_itec.yaml b/butia_navigation_gazebo/maps/sala_itec.yaml
@@ -0,0 +1,7 @@
+image: sala_itec.pgm
+resolution: 0.050000
+origin: [-12.200000, -15.400000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/butia_navigation_launchfiles/navigate-doris-base.launch b/butia_navigation_launchfiles/navigate-doris-base.launch
@@ -17,7 +17,7 @@
   </group>
 
   <!-- Start map_server -->
-  <arg name="map" default="$(find butia_navigation_gazebo)/maps/sala_fbot_2023_2.yaml" />
+  <arg name="map" default="$(find butia_navigation_gazebo)/maps/itec.yaml" />
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map)" output="$(arg output)" />
 
   <!-- Launches laser node -->