Adds map to the office world. (#69)

Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
Ekumen-OS · Aug 8, 2024 · 41b523a · 41b523a
1 parent 0f23da9
commit 41b523a
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/andino_gz/config/nav2_params.yaml b/andino_gz/config/nav2_params.yaml
@@ -201,7 +201,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.3
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -259,7 +259,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.30
       always_send_full_costmap: True
 
 map_server:

diff --git a/andino_gz/maps/office/office.pgm b/andino_gz/maps/office/office.pgm
diff --git a/andino_gz/maps/office/office.yaml b/andino_gz/maps/office/office.yaml
@@ -0,0 +1,8 @@
+image: office.pgm
+mode: trinary
+resolution: 0.05
+origin: [-17.2, -5.2, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
+
diff --git a/docker/requirements.txt b/docker/requirements.txt
@@ -21,6 +21,7 @@ python3-pip
 python3-setuptools
 ros-humble-andino-description
 ros-humble-andino-slam
+ros-humble-nav2-bringup
 ros-humble-nav2-common
 software-properties-common
 sudo