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- # Copyright: 2016-2020 www.corvin.cn ROS小课堂
- # Description:使用小车上三个红外测距传感器进行避障
- # 走迷宫,这里是一些可以配置的参数.
- # infrared_topic:订阅的红外传感器话题.
- # cmd_topic:控制移动的话题名.
- # yaw_service:发布IMU模块yaw偏行角的服务.
- # infrared_service:发布红外测据信息的服务名.
- # linear_x:移动时前进速度大小.
- # linear_y:横向移动时大小.
- # angular_speed:原地转圈时角速度大小.
- # warn_dist:小车是否可以前进的距离.
- # tolerance_dist:距离容忍值.
- # odom_frame:odom的tf名称.
- # base_frame:底盘的tf名称.
- # forward_dist:每次前进时移动的距离.
- # Author: corvin,adam
- # History:
- # 20200404:init this file.
- # 20200406:增加yaw service,rate参数.
- # 20200412:增加获取红外测距信息的service.
- # 20200424:更新注释,增加参数介绍.
- # 20200830:增加初始化参数.
- ######################################################
- infrared_topic: /mobilebase_arduino/sensor/GP2Y0A41
- cmd_topic: /cmd_vel
- yaw_service: /imu_node/GetYawData
- infrared_service: /mobilebase_arduino/getInfraredDistance
- odom_frame: /odom_combined
- base_frame: /base_footprint
- linear_x: 0.17
- linear_y: 0.15
- angular_speed: 0.5
- warn_dist: 0.25
- tolerance_dist: 0.05
- forward_dist: 0.50
- init_switch: false
- circle_dist: 0.18
- wall_dist: 0.16
- init_tolerance_dist: 0.01
- init_linear_x: 0.17
- init_linear_y: 0.05
- init_angular_speed: 0.2
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