remove amcl and use odom as global frame

[ros_roboint.git] / move_base.launch

diff --git a/move_base.launch b/move_base.launch
deleted file mode 100644 (file)
index cb2ce6e..0000000
--- a/move_base.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-       <!-- Run the map server -->
-       <node name="map_server" pkg="map_server" type="map_server" args="$(find roboint)/config/map.pgm 0.05"/>
-
-       <!-- Run AMCL -->
-       <include file="$(find amcl)/examples/amcl_diff.launch" />
-
-       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-               <param name="controller_frequency" value="4.0" />
-               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-               <rosparam file="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-               <rosparam file="$(find roboint)/config/global_costmap_params.yaml" command="load" />
-               <rosparam file="$(find roboint)/config/local_costmap_params.yaml" command="load" />
-               <rosparam file="$(find roboint)/config/base_local_planner_params.yaml" command="load" />
-       </node>
-</launch>