X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=launch%2Fmove_base.launch;h=ad307954ec94fb44bc80f51d35e4d2a6f8fc4ea6;hb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3;hp=441dbeaf5d13efb5af6b02609ef01a4fc533b56c;hpb=6925d3469d5f22b6271ece74540c0a30a51942db;p=ros_wild_thumper.git

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 441dbea..ad30795 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -4,11 +4,11 @@
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
 	<arg name="nomap" default="false" />
 
-	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
-
 	<!-- 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="$(arg slam_gmapping)" />
+
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>