added move_base, configs, edited urdf

[arm_ros_conn.git] / move_base.launch

diff --git a/move_base.launch b/move_base.launch
new file mode 100644 (file)
index 0000000..d15b077
--- /dev/null
+++ b/move_base.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+       <!-- Run the map server -->
+       <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.pgm 0.05"/>
+
+       <!-- Run AMCL -->
+       <include file="$(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="2.0" />
+               <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>
+</launch>