Added launch files for 3 dof slam using drl, hector, gmapping and crsm

packages. Added maps for mostra up 2015.
niusha-tw · Mar 12, 2015 · f72fe07 · f72fe07
1 parent 5ae20b5
commit f72fe07
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Showing 19 changed files with 1,000 additions and 8 deletions.
diff --git a/datasets/mostra_up_2015/mostra_up_2015-03-11-17-09-26.bag b/datasets/mostra_up_2015/mostra_up_2015-03-11-17-09-26.bag
diff --git a/launch/environments/mostra_up_2015/mostra_up.launch b/launch/environments/mostra_up_2015/mostra_up.launch
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+	<arg name="merge_lasers" default="1" />
+
+	<include file="$(find dynamic_robot_localization_tests)/launch/slam_3dof.launch" >
+		<arg name="use_dynamic_robot_localization" default="1" />
+		<arg name="use_gmapping" default="0" />
+		<arg name="use_hector" default="0" />
+		<arg name="use_crsm" default="0" />
+
+		<arg name="play_rosbags_rate" default="1.0" />
+		<arg name="world_rosbag_filename" default="$(find dynamic_robot_localization_tests)/datasets/mostra_up_2015/mostra_up_2015-03-11-17-09-26" />
+		<arg name="world_rosbag_folder" default="$(find dynamic_robot_localization_tests)/datasets/mostra_up_2015" />
+		<arg name="world_name" default="mostra_up_2015" />
+
+		<arg name="rviz_folder" default="$(find dynamic_robot_localization_tests)/rviz/mostra_up_2015" />
+
+		<arg name="merge_lasers" default="$(arg merge_lasers)" />
+		<arg name="laser_scan_topics" default="/guardian/laser_tilt_front+/guardian/laser_horizontal_back" />
+		<arg name="laser_scan_topic_merged" default="/scan" if="$(arg merge_lasers)" />
+		<arg name="laser_scan_topic_merged" default="/guardian/laser_tilt_front" unless="$(arg merge_lasers)" />
+		<arg name="sensor_frame_id" default="base_footprint" if="$(arg merge_lasers)"/>
+		<arg name="sensor_frame_id" default="hokuyo_frontal_laser_link" unless="$(arg merge_lasers)" />
+	</include>
+</launch>
diff --git a/launch/localization_tests.launch b/launch/localization_tests.launch
@@ -74,6 +74,7 @@
 	<arg name="reference_pointcloud_descriptors_filename" default="$(find dynamic_robot_localization_tests)/maps/ship_interior/tridimensional/cache/ship_interior_fpfh_descriptors_25mm.pcd" unless="$(arg recompute_point_features)" />
 	<arg name="reference_pointcloud_descriptors_save_filename" default="" unless="$(arg recompute_point_features)" />
 	<arg name="reference_pointcloud_descriptors_save_filename" default="$(find dynamic_robot_localization_tests)/maps/ship_interior/tridimensional/cache/ship_interior_fpfh_descriptors_25mm.pcd" if="$(arg recompute_point_features)" />
+	<arg name="publish_last_pose_tf_timeout_seconds" default="3.0" />
 
 	<!-- other localization systems -->
 	<arg name="use_odometry_as_localization_system" default="1" />
@@ -128,6 +129,8 @@
 	<arg name="octomap_resolution" default="0.01" />
 	<arg name="octomap_minimum_amount_of_time_between_ros_msg_publishing" default="5.0" />
 	<arg name="octomap_minimum_number_of_integrations_before_ros_msg_publishing" default="10" />
+	<arg name="octomap_override_sensor_z" default="true" />
+	<arg name="octomap_override_sensor_z_value" default="0.0" />
 	<!-- <arg name="map_file" default="$(find dynamic_robot_localization_tests)/maps/ship_interior/tridimensional/octomap/ship_interior_10mm.bt" /> -->
 	<!-- <arg name="octomap_file" default="$(find dynamic_robot_localization_tests)/maps/ship_interior/tridimensional/octomap/ship_interior_10mm_dynamic.ot" /> -->
 
@@ -174,6 +177,8 @@
 	<arg name="max_number_of_scans_to_assemble_per_cloud" default="4" />
 	<arg name="min_timeout_seconds_for_cloud_assembly" default="0.15" />
 	<arg name="max_timeout_seconds_for_cloud_assembly" default="1.1" />
+	<arg name="max_linear_velocity" default="0.025" />
+	<arg name="max_angular_velocity" default="0.174532925" />
 	<arg name="timeout_for_cloud_assembly" default="1.0" />
 
 
@@ -333,6 +338,8 @@
 		<arg name="octomap_resolution" default="$(arg octomap_resolution)" />
 		<arg name="octomap_minimum_amount_of_time_between_ros_msg_publishing" default="$(arg octomap_minimum_amount_of_time_between_ros_msg_publishing)" />
 		<arg name="octomap_minimum_number_of_integrations_before_ros_msg_publishing" default="$(arg octomap_minimum_number_of_integrations_before_ros_msg_publishing)" />
+		<arg name="octomap_override_sensor_z" default="$(arg octomap_override_sensor_z)" />
+		<arg name="octomap_override_sensor_z_value" default="$(arg octomap_override_sensor_z_value)" />
 		<arg name="initial_2d_map_file" default="$(arg initial_2d_map_file)" />
 		<arg name="laser_assembly_frame" default="$(arg laser_assembly_frame)" />
 		<arg name="number_of_scans_to_assemble_per_cloud" default="$(arg number_of_scans_to_assemble_per_cloud)" />
@@ -341,6 +348,9 @@
 		<arg name="max_number_of_scans_to_assemble_per_cloud" default="$(arg max_number_of_scans_to_assemble_per_cloud)" />
 		<arg name="min_timeout_seconds_for_cloud_assembly" default="$(arg min_timeout_seconds_for_cloud_assembly)" />
 		<arg name="max_timeout_seconds_for_cloud_assembly" default="$(arg max_timeout_seconds_for_cloud_assembly)" />
+		<arg name="max_linear_velocity" default="$(arg max_linear_velocity)" />
+		<arg name="max_angular_velocity" default="$(arg max_angular_velocity)" />
+		<arg name="publish_last_pose_tf_timeout_seconds" default="$(arg publish_last_pose_tf_timeout_seconds)" />
 		<arg name="reference_pointcloud_available" default="$(arg reference_pointcloud_available)" />
 		<arg name="reference_pointcloud_type_3d" default="$(arg reference_pointcloud_type_3d)" />
 		<arg name="reference_pointcloud_update_mode" default="$(arg reference_pointcloud_update_mode)" />
@@ -401,9 +411,21 @@
 	<include file="$(find dynamic_robot_localization_tests)/launch/localization_systems/ekf.launch" if="$(arg use_ekf)" />
 
 	<!-- SLAM -->
-	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/gmapping.launch" if="$(arg use_gmapping)" />
-	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/hector.launch" if="$(arg use_hector)" />
-	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/crsm.launch" if="$(arg use_crsm)" />
+	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/gmapping.launch" if="$(arg use_gmapping)" >
+		<arg name="base_link_frame_id" default="$(arg base_link_frame_id)" />
+		<arg name="laser_scan_topic" default="$(arg laser_scan_topic_amcl)" />
+	</include>
+
+	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/hector.launch" if="$(arg use_hector)" >
+		<arg name="base_link_frame_id" default="$(arg base_link_frame_id)" />
+		<arg name="laser_scan_topic" default="$(arg laser_scan_topic_amcl)" />
+	</include>
+
+	<include file="$(find dynamic_robot_localization_tests)/launch/slam_systems/crsm.launch" if="$(arg use_crsm)" >
+		<arg name="base_link_frame_id" default="$(arg base_link_frame_id)" />
+		<arg name="laser_frame_id" default="$(arg sensor_frame_id)" />
+		<arg name="laser_scan_topic" default="$(arg laser_scan_topic_amcl)" />
+	</include>
 
 
 

diff --git a/launch/slam_3dof.launch b/launch/slam_3dof.launch
@@ -0,0 +1,168 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+	<arg name="use_dynamic_robot_localization" default="0" />
+	<arg name="use_gmapping" default="0" />
+	<arg name="use_hector" default="0" />
+	<arg name="use_crsm" default="1" />
+
+
+	<arg name="play_rosbags" default="1" />
+	<arg name="play_rosbags_rate" default="1.0" />
+	<arg name="world_rosbag_filename" default="$(find dynamic_robot_localization_tests)/datasets/mostra_up_2015/mostra_up_2015-03-11-17-09-26" />
+	<arg name="world_rosbag_folder" default="$(find dynamic_robot_localization_tests)/datasets/mostra_up_2015" />
+	<arg name="world_name" default="mostra_up_2015" />
+
+	<arg name="use_map_server" default="0" />
+	<arg name="map_file" default="$(find dynamic_robot_localization_tests)/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_drl.yaml" />
+	<arg name="rviz_folder" default="$(find dynamic_robot_localization_tests)/rviz/mostra_up_2015" />
+
+	<arg name="robot_initial_pose_in_base_to_map" default="true" />
+	<arg name="robot_initial_x" default="0.0" />
+	<arg name="robot_initial_y" default="0.0" />
+	<arg name="robot_initial_z" default="0.0" />
+	<arg name="robot_initial_roll" default="0.0" />
+	<arg name="robot_initial_pitch" default="0.0" />
+	<arg name="robot_initial_yaw" default="0.0" />
+
+	<arg name="map_frame_id" default="map" />
+	<arg name="odom_frame_id" default="odom" />
+	<arg name="base_link_frame_id" default="base_footprint" />
+	<arg name="sensor_frame_id" default="base_footprint" />
+
+	<arg name="merge_lasers" default="1" />
+	<arg name="laser_scan_topics" default="/guardian/laser_tilt_front+/guardian/laser_horizontal_back" />
+	<arg name="laser_scan_topic_merged" default="/scan" />
+
+	<include file="$(find dynamic_robot_localization_tests)/launch/localization_tests.launch" >
+		<arg name="robot_initial_pose_in_base_to_map" default="$(arg robot_initial_pose_in_base_to_map)" />
+		<arg name="robot_initial_x" default="$(arg robot_initial_x)" />
+		<arg name="robot_initial_y" default="$(arg robot_initial_y)" />
+		<arg name="robot_initial_z" default="$(arg robot_initial_z)" />
+		<arg name="robot_initial_roll" default="$(arg robot_initial_roll)" />
+		<arg name="robot_initial_pitch" default="$(arg robot_initial_pitch)" />
+		<arg name="robot_initial_yaw" default="$(arg robot_initial_yaw)" />
+
+		<arg name="use_6_dof" default="0" />
+		<arg name="use_tof" default="0" />
+		<arg name="load_point_features" default="0" />
+		<arg name="save_point_features" default="0" />
+
+		<arg name="yaml_configuration_base_filename" default="$(find dynamic_robot_localization)/yaml/configs/pose_tracking/cluttered_environments_dynamic_large_map" />
+<!-- 		<arg name="yaml_configuration_filters_filename" default="$(find dynamic_robot_localization)/yaml/configs/empty.yaml" /> -->
+		<arg name="yaml_configuration_filters_filename" default="$(find dynamic_robot_localization)/yaml/configs/filters/filters_large_map_2d_slam.yaml" />
+		<arg name="yaml_configuration_pose_estimation_filename" default="$(find dynamic_robot_localization)/yaml/configs/empty.yaml" />
+<!-- 		<arg name="yaml_configuration_pose_estimation_filename" default="$(find dynamic_robot_localization)/yaml/configs/pose_estimation/initial_pose_estimation_large_map_2d.yaml" /> -->
+		<arg name="yaml_configuration_tracking_filename" default="$(find dynamic_robot_localization)/yaml/configs/pose_tracking/cluttered_environments_dynamic_large_map_slam_2d.yaml" />
+		<arg name="yaml_configuration_recovery_filename" default="$(find dynamic_robot_localization)/yaml/configs/pose_recovery/recovery_2d.yaml" />
+
+		<arg name="publish_ground_truth" default="0" />
+
+		<arg name="reference_costmap_topic" default="/map" />
+		<arg name="reference_pointcloud_topic" default="" />
+		<arg name="reference_pointcloud_available" default="false" />
+		<arg name="reference_pointcloud_type_3d" default="false" />
+		<arg name="reference_pointcloud_update_mode" default="OutliersIntegration" /> <!-- NoIntegration | FullIntegration | InliersIntegration | OutliersIntegration -->
+
+		<arg name="use_octomap_for_dynamic_map_update" default="true" />
+		<arg name="octomap_pointcloud_topic" default="aligned_pointcloud" />  <!-- ambient_pointcloud | aligned_pointcloud | aligned_pointcloud_outliers | aligned_pointcloud_inliers -->
+		<arg name="octomap_file" default="" />
+		<arg name="octomap_resolution" default="0.025" />
+		<arg name="octomap_minimum_amount_of_time_between_ros_msg_publishing" default="0.5" />
+		<arg name="octomap_minimum_number_of_integrations_before_ros_msg_publishing" default="2" />
+		<arg name="octomap_override_sensor_z" default="true" />
+		<arg name="octomap_override_sensor_z_value" default="0.0" />
+		<arg name="initial_2d_map_file" default="" />
+
+		<arg name="use_map_server" default="$(arg use_map_server)" />
+		<arg name="map_file" default="$(arg map_file)" />
+		<arg name="map_server_frame_id" default="$(arg map_frame_id)" />
+
+		<arg name="map_frame_id" default="$(arg map_frame_id)"  />
+		<arg name="odom_frame_id" default="$(arg odom_frame_id)" />
+		<arg name="base_link_frame_id" default="$(arg base_link_frame_id)" />
+		<arg name="sensor_frame_id" default="$(arg sensor_frame_id)" />
+
+		<arg name="invert_tf_transform" default="false" />
+		<arg name="invert_tf_hierarchy" default="false" />
+		<arg name="transform_pose_to_map_frame_id" default="true" />
+
+		<arg name="use_laser_assembler" default="1" />
+		<arg name="laser_assembly_frame" default="odom"  />
+		<arg name="laser_scan_topics" default="$(arg laser_scan_topics)" if="$(arg merge_lasers)" />
+		<arg name="laser_scan_topics" default="$(arg laser_scan_topic_merged)" unless="$(arg merge_lasers)" />
+		<arg name="laser_scan_topic_amcl" default="$(arg laser_scan_topic_merged)" />
+		<arg name="min_range_cutoff_percentage_offset" default="1.1" />
+		<arg name="max_range_cutoff_percentage_offset" default="0.96" />
+		<arg name="number_of_tf_queries_for_spherical_interpolation" default="4" />
+		<arg name="number_of_scans_to_assemble_per_cloud" default="4" />
+		<arg name="timeout_for_cloud_assembly" default="1.0" />
+		<arg name="min_number_of_scans_to_assemble_per_cloud" default="2" />
+		<arg name="max_number_of_scans_to_assemble_per_cloud" default="20" />
+		<arg name="min_timeout_seconds_for_cloud_assembly" default="0.15" />
+		<arg name="max_timeout_seconds_for_cloud_assembly" default="1.1" />
+		<arg name="max_linear_velocity" default="0.025" />
+		<arg name="max_angular_velocity" default="0.174532925" />
+
+		<arg name="publish_last_pose_tf_timeout_seconds" default="-2.0" />
+
+		<arg name="play_rosbags" default="$(arg play_rosbags)" />
+		<arg name="play_rosbags_rate" default="$(arg play_rosbags_rate)" />
+		<arg name="world_rosbag_folder" default="$(arg world_rosbag_folder)" />
+		<arg name="world_rosbag_filename" default="$(arg world_rosbag_filename)" />
+		<arg name="world_name" default="$(arg world_name)" />
+
+		<arg name="move_robot_on_path" default="0" />
+		<arg name="rviz_folder" default="$(arg rviz_folder)" />
+
+		<arg name="record_localization_results" default="0" />
+		<arg name="record_localization_results_paths" default="0" />
+		<arg name="record_localization_system_resources_usage" default="0" />
+		<arg name="compute_localization_error" default="0" />
+
+		<arg name="use_odometry_as_localization_system" default="0" />
+		<arg name="use_static_odometry_tf" default="0" />
+
+		<arg name="use_amcl" default="0" />
+		<arg name="use_amcl_simulated" default="0" />
+		<arg name="use_ekf" default="0" />
+
+		<arg name="use_dynamic_robot_localization" default="$(arg use_dynamic_robot_localization)" />
+		<arg name="use_gmapping" default="$(arg use_gmapping)" />
+		<arg name="use_hector" default="$(arg use_hector)" />
+		<arg name="use_crsm" default="$(arg use_crsm)" />
+
+		<arg name="show_rviz" default="0" unless="$(arg use_dynamic_robot_localization)" />
+	</include>
+
+
+
+	<include file="$(find laserscan_to_pointcloud)/launch/laserscan_to_pointcloud_assembler.launch" if="$(arg merge_lasers)" >
+		<arg name="pointcloud_publish_topic" default="ambient_pointcloud" />
+		<arg name="laser_scan_topics" default="$(arg laser_scan_topics)" />
+		<arg name="number_of_tf_queries_for_spherical_interpolation" default="4" />
+		<arg name="number_of_scans_to_assemble_per_cloud" default="2" />
+		<arg name="timeout_for_cloud_assembly" default="1.0" />
+		<arg name="dynamic_update_of_assembly_configuration_from_twist_topic" default="" />
+		<arg name="dynamic_update_of_assembly_configuration_from_odometry_topic" default="" />
+		<arg name="dynamic_update_of_assembly_configuration_from_imu_topic" default="" />
+		<arg name="target_frame" default="$(arg base_link_frame_id)" />
+		<arg name="min_range_cutoff_percentage_offset" default="0.0" />
+		<arg name="max_range_cutoff_percentage_offset" default="2.0" />
+	</include>
+
+	<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan" if="$(arg merge_lasers)" >
+		<param name="target_frame" value="$(arg base_link_frame_id)" />
+		<remap from="cloud_in" to="ambient_pointcloud" />
+		<remap from="scan" to="$(arg laser_scan_topic_merged)" />
+		<param name="min_height" value="-10" />
+		<param name="max_height" value="10" />
+		<param name="angle_min" value="-3.142" />
+		<param name="angle_max" value="3.142" />
+		<param name="angle_increment" value="0.00613592332229" />
+		<param name="scan_time" value="0.1" />
+		<param name="range_min" value="0.0" />
+		<param name="range_max" value="10.0" />
+		<param name="use_concurrency" value="true" />
+		<param name="use_inf" value="true" />
+	</node>
+</launch>
diff --git a/launch/slam_systems/crsm.launch b/launch/slam_systems/crsm.launch
@@ -1,7 +1,18 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<node name="crsm_slam_node" type="crsm_slam_node" pkg="crsm_slam" respawn="false" ns="crsm_slam" output="screen"/>
+	<arg name="base_link_frame_id" default="base_footprint" />
+	<arg name="base_frame" default="$(arg base_link_frame_id)" />
+	<arg name="laser_frame_id" default="laser" />
+	<arg name="laser_scan_topic" default="scan" />
+
 	<rosparam file="$(find dynamic_robot_localization_tests)/launch/slam_systems/crsm.yaml" command="load" ns="crsm_slam"/>
+	<param name="/crsm_slam/base_frame" type="str" value="$(arg base_frame)" />
+	<param name="/crsm_slam/base_footprint_frame" type="str" value="$(arg base_link_frame_id)" />
+	<param name="/crsm_slam/laser_frame" type="str" value="$(arg laser_frame_id)" />
+	<param name="/crsm_slam/laser_subscriber_topic" type="str" value="$(arg laser_scan_topic)" />
+
+	<node name="crsm_slam_node" type="crsm_slam_node" pkg="crsm_slam" respawn="false" ns="crsm_slam" output="screen" >
+	</node>
 
 	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find dynamic_robot_localization_tests)/rviz/slam/crsm.rviz"/>
 </launch>
diff --git a/launch/slam_systems/gmapping.launch b/launch/slam_systems/gmapping.launch
@@ -1,8 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+	<arg name="base_link_frame_id" default="base_footprint" />
+	<arg name="laser_scan_topic" default="scan" />
+
 	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
 		<param name="throttle_scans" value="1" />					<!-- default: 1 		| Process 1 out of every this many scans (set it to a higher number to skip more scans) -->
-		<param name="base_frame" value="base_link" />				<!-- default: base_link | The frame attached to the mobile base -->	
+		<param name="base_frame" value="$(arg base_link_frame_id)" /> <!-- default: base_link | The frame attached to the mobile base -->	
 		<param name="map_frame" value="map" />						<!-- default: map 		| The frame attached to the map -->
 		<param name="odom_frame" value="odom" />					<!-- default: odom 		| The frame attached to the odometry system -->
 		<param name="map_update_interval" value="0.1" /> 			<!-- default: 5.0 		| How long (in seconds) between updates to the map -->
@@ -37,6 +40,7 @@
 		<param name="transform_publish_period" value="0.05" />		<!-- default: 0.05 		| How long (in seconds) between transform publications. -->
 		<param name="occ_thresh" value="0.25" />					<!-- default: 0.25 		| Threshold on gmapping's occupancy values. Cells with greater occupancy are considered occupied (i.e., set to 100 in the resulting sensor_msgs/LaserScan) -->
 		<param name="maxRange" value="31.0" />						<!-- default: 50 		| The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange -->
+		<remap from="scan" to="$(arg laser_scan_topic)" />
 	</node>
 
 	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find dynamic_robot_localization_tests)/rviz/slam/gmapping.rviz"/>

diff --git a/launch/slam_systems/hector.launch b/launch/slam_systems/hector.launch
@@ -1,13 +1,16 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+	<arg name="base_link_frame_id" default="base_footprint" />
+	<arg name="laser_scan_topic" default="scan" />
+
 	<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
 		<!-- Topic names -->
-		<param name="scan_topic" value="/scan" />
+		<param name="scan_topic" value="$(arg laser_scan_topic)" />
 
 		<!-- Frame names -->
 		<param name="map_frame" value="map" />
 		<param name="odom_frame" value="odom" />
-		<param name="base_frame" value="base_link" />
+		<param name="base_frame" value="$(arg base_link_frame_id)" />
 
 		<!-- Tf use -->
 		<param name="use_tf_scan_transformation" value="true" />

diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26.pgm b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26.pgm
diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26.yaml b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26.yaml
@@ -0,0 +1,7 @@
+image: mostra_up_2015-03-11-17-09-26.pgm
+resolution: 0.025000
+origin: [0.000000, 0.0, -0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_drl_1.pgm b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_drl_1.pgm
diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_drl_1.yaml b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_drl_1.yaml
@@ -0,0 +1,7 @@
+image: mostra_up_2015-03-11-17-09-26_drl_1.pgm
+resolution: 0.025
+origin: [-9.775, -9.25, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_gmapping_both_lasers.pgm b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_gmapping_both_lasers.pgm
diff --git a/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_gmapping_both_lasers.yaml b/maps/mostra_up_2015/mostra_up_2015-03-11-17-09-26_gmapping_both_lasers.yaml
@@ -0,0 +1,7 @@
+image: mostra_up_2015-03-11-17-09-26_gmapping_both_lasers.pgm
+resolution: 0.025000
+origin: [-15.000000, -15.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+