use new inflation_layer in layered costmap2d

[ros_roboint.git] / explorer_configuration.launch

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index 8b05a6d7873855d73a8bade7109a45c71e9bb85c..4bff958d95845818ee8c56014dd4e0fc6bb7177e 100644 (file)
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -6,8 +6,6 @@
        </node>
 
        <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
-               <!-- fake laser scan with ultra sonic range finder -->
-               <param name="ultrasonic_laser" value="True" />
                <!-- Distance between both wheels in meter (18.55cm) -->
                <param name="wheel_dist" value="0.1855" />
                <!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
@@ -16,8 +14,5 @@
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
-       <arg name="map_file" default="$(find roboint)/config/map.png" />
-       <include file="$(find roboint)/launch/move_base.launch">
-               <arg name="map_file" value="$(arg map_file)" />
-       </include>
+       <include file="$(find roboint)/launch/move_base.launch"/>
 </launch>