X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=launch%2Fmove_base.launch;h=9463a0c8cad8972f98b891ad35aa32c30efaf446;hb=7d4c9ee68cdd0e924df9d5517c5849047a76e875;hp=e64852e14b1ff795b45f6d8f17e9f7b780a0f4a8;hpb=59f39a51a977ca93173e1074db0e7381a3d24e0d;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index e64852e..9463a0c 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,7 +2,6 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
-	<arg name="global_gps" default="false" />
 	<arg name="global_odom" default="false" />
 	<arg name="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
@@ -37,14 +36,13 @@
 
 	<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">
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>
 		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params_gps.yaml" command="load" if="$(arg global_gps)" />
 		<rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
 		<rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
 		<remap from="/cmd_vel" to="move_base/cmd_vel"/>