add camera type and update params

config/base_local_planner_params.yaml

@@ -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

launch/slam.launch

@@ -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>
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