Commit 88a72e6f authored by Test's avatar Test

add camera type and update params

parent acbbac59
......@@ -6,15 +6,15 @@ latch_xy_goal_tolerance: true
ADDWAPlannerROS:
acc_lim_x: 1.5
acc_lim_y: 0
acc_lim_th: 8
max_trans_vel: 0.5
min_trans_vel: 0.0
acc_lim_theta: 8
max_vel_trans: 0.5
min_vel_trans: 0.0
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0
min_vel_y: 0
max_rot_vel: 0.5
min_rot_vel: -0.5
max_vel_theta: 0.5
min_vel_theta: -0.5
yaw_goal_tolerance: 0.07
xy_goal_tolerance: 0.1
......
......@@ -3,7 +3,10 @@
<param name="enableMoveFlag" value="true"/>
</node>
<!-- 使用双目导航 -->
<include file="$(find ORB_SLAM2)/launch/run_multi.launch" />
<include file="$(find ORB_SLAM2)/launch/run_multi.launch" if="$(eval camera_type == 'multi')"/>
<!-- 使用双目前摄像头导航 -->
<include file="$(find ORB_SLAM2)/launch/run_front.launch" if="$(eval camera_type == 'front')"/>
<!-- 使用单目导航 -->
<!-- <include file="$(find ORB_SLAM2)/launch/run.launch" /> -->
<include file="$(find ORB_SLAM2)/launch/run.launch" if="$(eval camera_type == 'mono')"/>
</launch>
\ No newline at end of file
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