更新小车base_footprint参数

src/robot_navigation/config/costmap_common_params.yaml

@@ -20,10 +20,10 @@
 #robot_radius: 0.10
 
 #圆形机器人前面带上下移动夹爪的参数
-footprint: [[ 0.30,  0.00],[ 0.30,  0.07],[ 0.08,  0.07],
-            [ 0.07,  0.08],[ 0.00,  0.11],[-0.07,  0.08],
-            [-0.11,  0.00],[-0.07, -0.08],[ 0.00, -0.11],
-            [ 0.07, -0.08],[ 0.08, -0.07],[ 0.30, -0.07]]
+footprint: [[ 0.30,  0.00],[ 0.30,  0.07],[ 0.07,  0.07],
+            [ 0.06,  0.08],[ 0.00,  0.10],[-0.06,  0.07],
+            [-0.11,  0.00],[-0.06, -0.07],[ 0.00, -0.10],
+            [ 0.06, -0.08],[ 0.07, -0.07],[ 0.30, -0.07]]
 
 map_type: costmap
 

src/robot_navigation/launch/view_model.launch

@@ -1,7 +0,0 @@
-<launch>
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="true"/>
-  </node>
-  
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find carebot_navigation)/rviz/model.rviz" />
-</launch>

src/robot_navigation/rviz/model.rviz

@@ -1,228 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /Grid1
-        - /RobotModel1
-      Splitter Ratio: 0.5
-    Tree Height: 673
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Name: Time
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        Value: 0; 0; 0
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_front_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        plate_bottom_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        plate_middle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        plate_top_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_4_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_5_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_kinect_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_kinect_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: /base_footprint
-  Name: root
-  Tools:
-    - Class: rviz/MoveCamera
-    - Class: rviz/Interact
-    - Class: rviz/Select
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 1.18557
-      Focal Point:
-        Value: 0; 0; 0
-        X: 0
-        Y: 0
-        Z: 0
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.490399
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 5.71357
-    Saved: ~
-Window Geometry:
-  Height: 916
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000018c0000032bfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000320000032b000000d701000005000000010000010b0000032bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000320000032b000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000001eb01000005fb0000000800540069006d00650100000000000004500000000000000000000002f30000032b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Width: 1428
-  X: 56
-  Y: -31