Merge branch 'main' of github.com:Rooholla-KhorramBakht/Go2Py into main

deploy/nav2_ws/Feb16_map_afternoon.yaml

@@ -0,0 +1,7 @@
+image: Feb16_map_afternoon.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.25, -2.39, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

deploy/nav2_ws/Feb19_Room.yaml

@@ -0,0 +1,7 @@
+image: Feb19_Room.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.07, -1.54, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml

@@ -19,9 +19,9 @@ slam_toolbox:
     # if you'd like to immediately start continuing a map at a given pose
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/rstaion/projects/rooholla/locomotion/Go2Py/deploy/nav2_ws/Feb16_hallway_map
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/Feb19_Room
-    map_start_pose: [0.33, 1.49, 0.0]
+    #map_start_pose: [0.33, 1.49, 0.0]
-    # map_start_at_dock: true
+    map_start_at_dock: true
 
     debug_logging: false
     throttle_scans: 1

deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml

@@ -114,7 +114,7 @@ ekf_filter_node:
 # for all future measurements. While you can achieve the same effect with the differential paremeter, the key
 # difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
 # integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
-        odom0_relative: false
+        odom0_relative: true
 
 # [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
 # control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to