ros navigation + gslam working perfectly

Author: jitrc

eklavya_navigation/config/base_local_planner_params.yaml

@@ -1,3 +1,8 @@
+NavfnROS:
+  allow_unknown: true
+  #transform_tolerance: 0.3
+  #default_tolerance: 5.0
+
 controller_frequency: 5.0
 TrajectoryPlannerROS:
   max_vel_x: 0.50

eklavya_navigation/config/costmap_common_params.yaml

@@ -2,6 +2,6 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 footprint: [[-0.30, -0.30], [-0.30, 0.30], [0.30, 0.30],  [0.30, -0.30]]
 footprint_padding: 0.01
-inflation_radius: 0.50
+inflation_radius: 0.20
 observation_sources: scan
 scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}

eklavya_navigation/config/global_costmap_params.yaml

@@ -3,5 +3,5 @@ global_costmap:
    robot_base_frame: /base_link
    update_frequency: 3.0
    publish_frequency: 0.0
-   static_map: false
+   static_map: true
    transform_tolerance: 0.5

eklavya_navigation/config/local_costmap_params.yaml

@@ -5,7 +5,7 @@ local_costmap:
    publish_frequency: 5.0
    static_map: false
    rolling_window: true
-   width: 14.0
-   height: 14.0
+   width: 4.0
+   height: 4.0
    resolution: 0.1
    transform_tolerance: 0.5