5156a8d766
- Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align) - adaptive exploration (more random when stuck) - fence-line Hough detection + geometric correction - scan hit points marked at 255 immediately - forward half-step pre-check for obstacle avoidance - Ackermann constraint |wz| <= |vx|/min_turn_r - XORshift RNG (stdlib broken on ARM)
32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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DeclareLaunchArgument("map_file", default_value="/home/cyy/sim_map.pgm"),
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DeclareLaunchArgument("lookahead", default_value="0.8"),
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DeclareLaunchArgument("test_mode", default_value="false"),
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# Static TF: base_link → laser
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Node(
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package="tf2_ros", executable="static_transform_publisher",
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name="tf_laser",
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arguments=["0","0","0.12","0","0","0","base_link","laser"],
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),
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# Main navigation node
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Node(
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package="car_nav_lite",
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executable="nav_lite_node",
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name="nav_lite_node",
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output="screen",
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parameters=[{
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"map_file": LaunchConfiguration("map_file"),
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"lookahead": LaunchConfiguration("lookahead"),
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"test_mode": LaunchConfiguration("test_mode"),
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}],
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),
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])
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