added roboAmap

butia-bots · Jul 5, 2023 · 44536f0 · 44536f0
1 parent 21b392a
commit 44536f0
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Showing 3 changed files with 13 additions and 1 deletion.
diff --git a/butia_navigation_gazebo/maps/mapaArobocup.pgm b/butia_navigation_gazebo/maps/mapaArobocup.pgm
diff --git a/butia_navigation_gazebo/maps/mapaArobocup.yaml b/butia_navigation_gazebo/maps/mapaArobocup.yaml
@@ -0,0 +1,7 @@
+image: mapaArobocup.pgm
+resolution: 0.050000
+origin: [-13.800000, -17.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/butia_navigation_launchfiles/navigate-doris-base.launch b/butia_navigation_launchfiles/navigate-doris-base.launch
@@ -17,7 +17,7 @@
   </group>
 
   <!-- Start map_server -->
-  <arg name="map" default="$(find butia_navigation_gazebo)/maps/maparobocup.yaml" />
+  <arg name="map" default="$(find butia_navigation_gazebo)/maps/mapaArobocup.yaml" />
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map)" output="$(arg output)" />
 
   <!-- Launches laser node -->