waiterbot_navigation

[jihoonl]

@mehditlili Is there any difference between turtlebot navigation and waiterbot navigation?

[jihoonl]

How about including turtlebot navigation launch files instead of copying?

[mehditlili]

Ok I will include them instead, but common_costmap_param.yaml for waiterbot is different from turtlebot as waiterbot includes ir_sensors in the obstacle_layer. I will create a ir_costmap_param where ir_sensor will be added to the obstacle_layer to avoid redundancy

[mehditlili]

Waiterbot params are now passed directly to move_base.launch.xml.

[jihoonl]

Apologies for letting you bit by bit.

How about making custom_param_file as arg in amcl_demo.launch? Then we can clean up amcl.launch in waiterbot_navigation like the following.

<launch>
  <arg custom_move_base_param "ir_params">
 <!-- Additional sensors -->
 <include file="$(find waiterbot_sensors)/launch/ir_sensors.launch"/>

 <include file="$(find turtlebot_navigation)/launch/amcl_demo.launch"/>
    <arg custom_move_base_param/>
</include>
</launch>

How about this way?

[jihoonl]

and also could you clean up package.xml? Then this should be ready :)

[mehditlili]

I changed the way it is passed. Now waiterbot_navigation launcher just calls amcl_demo from turtlebot and its own ir sensor launcher. It gets as parameter the custom param file and the map name.

[jihoonl]

Nice @mehditlili Thanks!

For the last!!!(Sorry :stuck_out_tongue_closed_eyes:)

you may want to add waiterbot_sensors and turtlebot_navigation packages as run_depend in package.xml since this package is meaningless without them. :)

Everything else looks great!

[mehditlili]

It should be fine now (finally :smile: ) I tested it on the robot and all parameters are set up correctly.

[jihoonl]

Great work! :+1: Merging it