+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <!-- Run the map server -->
- <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
-
- <!-- Run AMCL -->
- <include file="$(find amcl)/examples/amcl_diff.launch" />
-
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <param name="controller_frequency" value="10.0" />
- <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
- </node>
-
- <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-</launch>