X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;fp=launch%2Fmove_base.launch;h=378dd07bcbc06c4ba58393be55aa99435aa47d67;hp=0000000000000000000000000000000000000000;hb=a114d47e682d86ebe8c6c62833f509ea7400d04d;hpb=cbff51885ba016eecdefc89894aae4914c563da2

diff --git a/launch/move_base.launch b/launch/move_base.launch
new file mode 100644
index 0000000..378dd07
--- /dev/null
+++ b/launch/move_base.launch
@@ -0,0 +1,17 @@
+<?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="$(find roboint)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+		<rosparam file="$(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>