<?xml version="1.0"?>
<launch>
- <!-- Run the map server -->
- <arg name="map_file" default="$(find roboint)/config/map.png" />
- <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file) 0.01" >
- <param name="frame_id" value="odom" />
- </node>
-
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="controller_frequency" value="4.0" />
<rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />