move_base.launch

   1 <launch>
   2         <master auto="start"/>
   3
   4         <!-- Run the map server -->
   5         <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
   6
   7         <!-- Run AMCL -->
   8         <include file="$(find amcl)/examples/amcl_diff.launch" />
   9
  10         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  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>