launch/move_base.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="slam_gmapping" default="false" />
   4         <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
   5         <arg name="nomap" default="false" />
   6         <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
   7
   8         <!-- Run AMCL -->
   9         <group unless="$(arg nomap)">
  10                 <!-- Run the map server -->
  11                 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
  12
  13                 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
  14                 <param name="amcl/base_frame_id" value="base_footprint" />
  15         </group>
  16
  17         <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
  18                 <param name="scan" value="scan" />
  19                 <param name="delta" value="0.01" />
  20                 <param name="map_update_interval" value="30" />
  21                 <param name="linearUpdate" value="0.5" />
  22                 <param name="angularUpdate" value="0.25" />
  23                 <param name="xmin" value="-5.0"/>
  24                 <param name="ymin" value="-5.0"/>
  25                 <param name="xmax" value="5.0"/>
  26                 <param name="ymax" value="5.0"/>
  27                 <param name="odom_frame" value="odom"/>
  28         </node>
  29
  30         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  31                 <param name="base_local_planner" value="$(arg base_local_planner)"/>
  32                 <param name="controller_frequency" value="10.0" />
  33                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  34                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  35                 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
  36                 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
  37                 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
  38                 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
  39                 <remap from="/cmd_vel" to="move_base/cmd_vel"/>
  40         </node>
  41 </launch>