add args to launchfiles; add new params

Author: fferri

launch/test-mapping.launch

@@ -1,13 +1,15 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="cloud_in" default="/pcl" />
+    <arg name="robot" default="p3dx" />
     <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
-        <remap from="cloud_in" to="/pcl"/>
+        <remap from="cloud_in" to="$(arg cloud_in)"/>
         <param name="resolution" value="0.05" />
         <param name="sensor_model/hit" type="double" value="0.7" />
         <param name="sensor_model/miss" type="double" value="0.4" />
         <param name="sensor_model/min" type="double" value="0.12" />
         <param name="sensor_model/max" type="double" value="0.97" />
         <param name="sensor_model/max_range" type="double" value="3.0" />
-        <rosparam command="load" file="$(find octomap_path_planner)/launch/vrep-p3dx.yaml" />
+        <rosparam command="load" file="$(find octomap_path_planner)/launch/vrep-$(arg robot).yaml" />
     </node>
 </launch>

launch/test-pathplanner.launch

@@ -1,10 +1,16 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="robot" default="p3dx" />
     <node pkg="octomap_path_planner" type="octomap_path_planner_node" name="octomap_path_planner">
         <remap from="octree_in" to="/octomap_binary"/>
         <remap from="goal_in" to="/clicked_point"/>
         <remap from="twist_out" to="/cmd_vel"/>
         <param name="treat_unknown_as_free" type="bool" value="true" />
-        <rosparam command="load" file="$(find octomap_path_planner)/launch/vrep-p3dx.yaml" />
+        <param name="goal_reached_threshold" value="0.25" />
+        <param name="controller_frequency" value="2.0" />
+        <param name="twist_linear_gain" value="0.5" />
+        <param name="twist_angulear_gain" value="1.0" />
+        <param name="max_superable_height" value="0.25" />
+        <rosparam command="load" file="$(find octomap_path_planner)/launch/vrep-$(arg robot).yaml" />
     </node>
 </launch>