diff --git a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
index 97bdfbb987..731c85f4e4 100644
--- a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
@@ -117,7 +117,7 @@ def generate_launch_description():
declare_simulator_cmd = DeclareLaunchArgument(
'headless',
- default_value='False',
+ default_value='True',
description='Whether to execute gzclient)')
declare_world_cmd = DeclareLaunchArgument(
@@ -140,8 +140,7 @@ def generate_launch_description():
cmd=['gzclient'],
cwd=[launch_dir], output='screen')
- urdf = os.path.join(
- get_package_share_directory('turtlebot3_description'), 'urdf', 'turtlebot3_waffle.urdf')
+ urdf = os.path.join(bringup_dir, 'worlds', 'turtlebot3_waffle.urdf')
start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
index d1dc8948a9..2db4d36c56 100644
--- a/nav2_bringup/bringup/params/nav2_params.yaml
+++ b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -115,14 +115,17 @@ controller_server_rclcpp_node:
local_costmap:
local_costmap:
ros__parameters:
+ update_frequency: 5
+ publish_frequency: 2
+ robot_base_frame: base_link
use_sim_time: True
global_frame: odom
- plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
- plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
rolling_window: true
width: 3
height: 3
resolution: 0.05
+ plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+ plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
robot_radius: 0.22
inflation_layer:
cost_scaling_factor: 3.0
@@ -139,8 +142,8 @@ local_costmap:
enabled: True
publish_voxel_map: True
origin_z: 0.0
- z_resolution: 0.2
- z_voxels: 10
+ z_resolution: 0.05
+ z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: pointcloud
@@ -163,10 +166,15 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
+ update_frequency: 1
+ publish_frequency: 1
+ robot_base_frame: base_link
+ global_frame: map
use_sim_time: True
plugin_names: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
robot_radius: 0.22
+ resolution: 0.05
obstacle_layer:
enabled: True
observation_sources: scan
@@ -180,8 +188,8 @@ global_costmap:
enabled: True
publish_voxel_map: True
origin_z: 0.0
- z_resolution: 0.2
- z_voxels: 10
+ z_resolution: 0.05
+ z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: pointcloud
diff --git a/nav2_bringup/bringup/worlds/turtlebot3_waffle.urdf b/nav2_bringup/bringup/worlds/turtlebot3_waffle.urdf
new file mode 100644
index 0000000000..c92483449e
--- /dev/null
+++ b/nav2_bringup/bringup/worlds/turtlebot3_waffle.urdf
@@ -0,0 +1,293 @@
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diff --git a/nav2_bringup/bringup/worlds/waffle.model b/nav2_bringup/bringup/worlds/waffle.model
index d065ae1cd8..88fa5e58c3 100644
--- a/nav2_bringup/bringup/worlds/waffle.model
+++ b/nav2_bringup/bringup/worlds/waffle.model
@@ -403,9 +403,7 @@
-
-
-
+
0.069 -0.047 0.107 0 0 0
@@ -418,7 +416,6 @@
0.035
-
0 0.047 0 0 0 0
@@ -427,42 +424,35 @@
+
0.069 -0.047 0.107 0 0 0
-
- true
- true
- 30
-
- 1.02974
-
- 1920
- 1080
- R8G8B8
-
-
- 0.02
- 300
-
-
- gaussian
-
- 0.0
- 0.007
-
+
+
+ 1
+ 5
+ 0.064 -0.047 0.107 0 0 0
+
-
-
-
-
-
-
-
-
-
-
+
+
+
+ intel_realsense_r200_depth
+ camera_depth_frame
+ 0.07
+ 0.001
+ 5.0
+
+
+
+ 0 0.047 0 0 0 0
+
+
+ 0.008 0.130 0.022
+
+
+
+ 0.069 -0.047 0.107 0 0 0
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 29e8fa3000..f1afd9d3af 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -86,7 +86,8 @@ Costmap2DROS::Costmap2DROS(
declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
declare_parameter("global_frame", rclcpp::ParameterValue(std::string("map")));
- declare_parameter("height", rclcpp::ParameterValue(10));
+ declare_parameter("height", rclcpp::ParameterValue(5));
+ declare_parameter("width", rclcpp::ParameterValue(5));
declare_parameter("lethal_cost_threshold", rclcpp::ParameterValue(100));
declare_parameter("map_topic", rclcpp::ParameterValue(
(parent_namespace_ == "/" ? "/" : parent_namespace_ + "/") + std::string("map")));
@@ -106,7 +107,6 @@ Costmap2DROS::Costmap2DROS(
declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast(0xff)));
declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
declare_parameter("use_maximum", rclcpp::ParameterValue(false));
- declare_parameter("width", rclcpp::ParameterValue(10));
declare_parameter("clearable_layers", rclcpp::ParameterValue(clearable_layers));
}