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="$(arg map_file)" output="screen" unless="$(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         <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
  18
  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"/>
  29         </node>
  30 </launch>