use new inflation_layer in layered costmap2d

[ros_roboint.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 378dd07bcbc06c4ba58393be55aa99435aa47d67..f78142f6fd060cf133f0cf7d2dc12a62a9deda19 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -1,11 +1,5 @@
 <?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" />