move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <master auto="start"/>
   4
   5         <!-- Run the map server -->
   6         <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
   7
   8         <!-- Run AMCL -->
   9         <include file="$(find amcl)/examples/amcl_diff.launch" />
  10
  11         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  12                 <param name="controller_frequency" value="4.0" />
  13                 <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  14                 <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  15                 <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
  16                 <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
  17                 <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
  18         </node>
  19 </launch>