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costmap_common_params.yaml

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+map_type: costmap #Map type to use, "voxel" or "costmap".
+
+obstacle_range: 2.5 #The maximum range in meters at which to insert obstacles into the costmap using sensor data.
+raytrace_range: 3.0 #The maximum range in meters at which to raytrace out obstacles from the map using sensor data. 
+
+#The footprint of the robot specified in the robot_base_frame coordinate frame as a list in the format: [ [x1, y1], [x2, y2], ...., [xn, yn] ]. The footprint specification assumes the center point of the robot is at (0.0, 0.0) 
+footprint: [[-0.40,-0.32],[-0.40,0.32], [0.50, 0.32], [0.50,-0.32]]
+
+
+resolution: 0.05 #The resolution of the map in meters/cell. 
+cost_scaling_factor: 20.0 #A scaling factor to apply to cost values during inflation. 
+inflation_radius: 0.9
+
+#observation_source: A list of observation source names separated by spaces
+#	/sensor_frame: The frame of the origin of the sensor
+#	/topic		 : The topic on which sensor data comes in for this source.
+#	data_type    : The data type associated with the topic.
+#	clearing     : Whether or not this observation should be used to clear out freespace
+#	marking      : Whether or not this observation should be used to mark obstacles.
+
+observation_sources: sonar
+sonar: {sensor_frame: /sonar, topic: /rosaria/sonar, data_type: PointCloud, clearing: true, marking: true, max_obstacle_height: 0.4, min_obstacle_height: 0.0}
+
+
+#More information at http://wiki.ros.org/costmap_2d and http://wiki.ros.org/costmap_2d/flat 

global_costmap_params.yaml

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+global_costmap:
+  global_frame: /map #The global frame for the costmap to operate in. 
+  robot_base_frame: /base_link #The name of the frame for the base link of the robot. 
+  update_frequency: 1.0 #The frequency in Hz for the map to be updated.
+  publish_frequency: 1.0 #The frequency in Hz for the map to be publish display information. 
+  width: 30
+  height: 30
+  static_map: true
+  inflation_radius: 1.0
+
+# More information at http://wiki.ros.org/costmap_2d and http://wiki.ros.org/costmap_2d/flat 

global_planner.launch

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+
+<launch>
+
+  <!-- Run the map server -->
+   <!-- node name="map_server" pkg="map_server" type="map_server" args="$(find p3dx_navigation)/maps/corredor-ct9.yaml" output="screen"/> -->
+
+   <!-- Run the map server -->
+   <node name="map_server" pkg="map_server" type="map_server" args="$(find p3dx_navigation)/maps/orbit_map.yaml" output="screen"/>
+
+  <!--- Run AMCL -->
+  <!--include file="$(find p3dx_navigation)/launch/amcl.launch" />-->
+
+<!--<node name="amcl" pkg="amcl" type="amcl" output="screen"/>-->
+
+  <!--- Run move_base with parameters -->
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(find p3dx_navigation)/config/global_planner/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find p3dx_navigation)/config/global_planner/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find p3dx_navigation)/config/global_planner/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find p3dx_navigation)/config/global_planner/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find p3dx_navigation)/config/global_planner/move_base_params.yaml" command="load" />
+  </node>
+
+</launch>

local_costmap_params.yaml

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+local_costmap:
+  global_frame: /map ##The global frame for the costmap to operate in. 
+  robot_base_frame: /base_link #The name of the frame for the base link of the robot. 
+  update_frequency: 5.0 #The frequency in Hz for the map to be updated.
+  publish_frequency: 5.0 #The frequency in Hz for the map to be publish display information. 
+  width: 4.0 #The width of the map in meters. 
+  height: 4.0 #The height of the map in meters. 
+
+  static_map: false #Whether or not to use the static map to initialize the costmap
+  rolling_window: true #Whether or not to use a rolling window version of the costmap.
+  resolution: 0.05 #The resolution of the map in meters/cell. 
+
+# More information at http://wiki.ros.org/costmap_2d and http://wiki.ros.org/costmap_2d/flat

move_base_params.yaml

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+controller_frequency: 5 #The rate in Hz at which to run the control loop and send velocity commands to the base
+
+TrajectoryPlannerROS:
+
+  pdist_scale: 0.9 #The weighting for how much the controller should stay close to the path it was given 
+
+  max_vel_x: 0.8 # The maximum forward velocity allowed for the base in meters/sec
+  min_vel_x: 0.03 # The minimum forward velocity allowed for the base in meters/sec.
+  max_vel_theta: 0.8 #The maximum rotational velocity allowed for the base in radians/sec
+  min_vel_theta: -0.8 #The minimum rotational velocity allowed for the base in radians/sec 
+  min_in_place_vel_theta: 0.01 # The minimum rotational velocity allowed for the base while performing in-place rotations in radians/sec
+  
+  acc_lim_theta: 2 #The rotational acceleration limit of the robot in radians/sec^2
+  acc_lim_x: 0.7 #The x acceleration limit of the robot in meters/sec^2 
+
+  meter_scoring: true #Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells.
+
+  holonomic_robot: false #Determines whether velocity commands are generated for a holonomic or non-holonomic robot.
+
+  xy_goal_tolerance: 0.1 # Added by Mike, modified from default value of 0.10
+  yaw_goal_tolerance: 0.05 # Added by Mike, default is 0.05 (radians)
+#More information at http://wiki.ros.org/base_local_planner

nav_grabber.py

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+#!/usr/bin/env python
+import rospy
+from nav_msgs.msg import Path
+
+rospy.init_node("nav_grabber")
+
+plan_publisher = rospy.Publisher('new_plan', Path, queue_size=10)
+
+rate = rospy.Rate(10.0)
+
+def get_plan():
+
+	new_plan = Path()
+	new_plan.header.frame_id = 'map'
+
+	plan = rospy.wait_for_message('move_base/NavfnROS/plan', Path)
+	print "Publishing a new plan..."
+	for i in range(len(plan.poses)):
+		if i % 200 == 0:
+			new_plan.poses.append(plan.poses[i])
+
+	plan_publisher.publish(new_plan)
+
+while not rospy.is_shutdown():
+	get_plan()
+	rate.sleep()