move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <!-- Run the map server -->
   4         <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.pgm 0.05"/>
   5
   6         <!-- Run AMCL -->
   7         <include file="$(find amcl)/examples/amcl_diff.launch" />
   8
   9         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  10                 <param name="controller_frequency" value="2.0" />
  11                 <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  12                 <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  13                 <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
  14                 <rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
  15                 <rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
  16         </node>
  17
  18         <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
  19         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  20 </launch>