navigation stack tuning

[arm_ros_conn.git] / move_base.launch

diff --git a/move_base.launch b/move_base.launch
index d15b07722ba01a0d18c60f8f1d1f31b2769a6fb6..8d46da1af9245e6c5ae965ddb4c1808f69db840e 100644 (file)
--- a/move_base.launch
+++ b/move_base.launch
@@ -14,4 +14,7 @@
                <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>