X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=explorer_configuration.launch;h=4bff958d95845818ee8c56014dd4e0fc6bb7177e;hb=562300f16b1b50ed1b730dceb0bf1e39797677fb;hp=fa4e33d5b83d96e317e27def1230cbc6507123d4;hpb=f5eea9a58ebf3f5740c64e4b77c3fe52ed9fa351;p=ros_roboint.git

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index fa4e33d..4bff958 100644
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,12 +1,11 @@
+<?xml version="1.0"?>
 <launch>
-	<param name="robot_description" textfile="urdf/explorer.urdf" />
+	<param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
 
 	<node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
 	</node>
 
 	<node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
-		<!-- fake laser scan with ultra sonic range finder -->
-		<param name="ultrasonic_laser" value="True" />
 		<!-- Distance between both wheels in meter (18.55cm) -->
 		<param name="wheel_dist" value="0.1855" />
 		<!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
@@ -14,4 +13,6 @@
 	</node>
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+	<include file="$(find roboint)/launch/move_base.launch"/>
 </launch>