Merge branch 'master' into fetch-fix-dock

jsk-ros-pkg · Nov 24, 2020 · 15cefa0 · 15cefa0
2 parents d1b661c + 06e86c2
commit 15cefa0
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Showing 3 changed files with 14 additions and 1 deletion.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/move_base.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/move_base.xml
@@ -1,6 +1,10 @@
 <!-- original : pr2_navigation_global/move_base.xml (electric) -->
 <launch>
   <arg name="use_teb_local_planner" default="false" />
+  <arg name="use_map_keepout" default="false" />
+  <arg name="map_topic" value="map_keepout" if="$(arg use_map_keepout)" />
+  <arg name="map_topic" value="map" unless="$(arg use_map_keepout)" />
+
   <include file="$(find pr2_machine)/$(env ROBOT).machine" />
 
   <!-- Bring up the tilt_laser aware version of move_base -->
@@ -12,6 +16,7 @@
     <!-- launch-prefix="nice -n +10"> -->
     <remap from="odom" to="base_odometry/odom" />
     <remap from="cmd_vel" to="navigation/cmd_vel/raw" />
+    <remap from="map" to="$(arg map_topic)" />
     <remap from="~clear_costmaps" to="/move_base/clear_costmaps" />
 
     <param name="base_global_planner" value="navfn/NavfnROS" />

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch
@@ -4,6 +4,7 @@
   <arg name="launch_look_forward" default="true"/>
   <arg name="launch_teleop_joystick" default="true" />
   <arg name="launch_navigation" default="true" />
+  <arg name="use_map_keepout" default="false" />
 
   <include file="$(find pr2_machine)/$(env ROBOT).machine" />
 
@@ -17,7 +18,9 @@
     <include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/lasers_and_filters.xml">
       <arg name="gazebo" value="$(arg gazebo)"/>
     </include>
-    <include file="$(find jsk_pr2_startup)/jsk_pr2_move_base/move_base.xml" />
+    <include file="$(find jsk_pr2_startup)/jsk_pr2_move_base/move_base.xml">
+      <arg name="use_map_keepout" value="$(arg use_map_keepout)" />
+    </include>
 
     <!-- To ignore tilt-laser -->
     <node name="tilt_laser_mux" pkg="topic_tools" type="mux"

diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -24,6 +24,8 @@
   <arg name="launch_reset_motors" default="true" />
   <arg name="slow_camera_framerate" default="true" />
   <arg name="launch_c3_startup" default="false" />
+  <arg name="use_map_keepout" default="true"
+       doc="whether to use keepout map or not for navigation (default: true)"/>
   <arg name="USER_NAME" default="false" />
 
   <include file="$(find jsk_pr2_startup)/jsk_pr2.machine"
@@ -36,6 +38,8 @@
   <include if="$(arg launch_move_base)"
            file="$(find jsk_pr2_startup)/jsk_pr2_move_base/pr2_2dnav.launch">
     <arg name="launch_look_forward" value="$(arg launch_look_forward)"/>
+    <arg name="launch_navigation" value="true" />
+    <arg name="use_map_keepout" value="$(arg use_map_keepout)" />
   </include>
 
   <!-- special start: use when launuch_move_base is false-->
@@ -52,6 +56,7 @@
   <include file="$(find jsk_maps)/launch/start_map_$(arg map_frame).launch"
            if="$(arg launch_map)">
     <arg name="MACHINE" value="c2" />
+    <arg name="keepout" value="$(arg use_map_keepout)" />
   </include>
 
   <!-- japanese speech node -->