3 <arg name="slam_gmapping" default="false" />
4 <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
5 <arg name="nomap" default="false" />
6 <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
9 <group unless="$(arg nomap)">
10 <!-- Run the map server -->
11 <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
13 <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
14 <param name="amcl/base_frame_id" value="base_footprint" />
17 <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
19 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
20 <param name="base_local_planner" value="$(arg base_local_planner)"/>
21 <param name="controller_frequency" value="10.0" />
22 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
23 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
24 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
25 <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
26 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
27 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
28 <remap from="/cmd_vel" to="move_base/cmd_vel"/>