本文分析move base 的配置文件,从配置文件设置的角度,可以更清晰的把握move base对于costmap2D,global planner,local planner的调用关系。
这里采用turtlebot_navigation package
为例:
<launch>
<include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/dummy.yaml"/>
<!-- 以下部分是move base调用,需要配置的文件:包括全局地图,局部地图,全局planner,局部planner -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file=