launch/move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <!-- Run the map server -->
   4         <arg name="map_file" default="$(find roboint)/config/map.png" />
   5         <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file) 0.01" >
   6                 <param name="frame_id" value="odom" />
   7         </node>
   8
   9         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  10                 <param name="controller_frequency" value="4.0" />
  11                 <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  12                 <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  13                 <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
  14                 <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
  15                 <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
  16         </node>
  17 </launch>