X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=launch%2Fmove_base.launch;h=88705b986a889311881e490c8ca7496b26754f96;hb=0a8fd8a7e696cc5c8a48e5fe4f1363609977d75f;hp=30f7ff1118caaa7e93aa8b51df49f12c7630f3f9;hpb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 30f7ff1..88705b9 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -8,24 +8,13 @@
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
 		<!-- Run the map server -->
-		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
 
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
-		<param name="scan" value="scan" />
-		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="30" />
-		<param name="linearUpdate" value="0.5" />
-		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-5.0"/>
-		<param name="ymin" value="-5.0"/>
-		<param name="xmax" value="5.0"/>
-		<param name="ymax" value="5.0"/>
-		<param name="odom_frame" value="odom"/>
-	</node>
+	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>