wild_thumper.launch: add joint_state_publisher
[ros_wild_thumper.git] / launch / move_base.launch
1 <?xml version="1.0"?>
2 <launch>
3         <arg name="slam_gmapping" default="false" />
4         <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
5
6         <!-- Run the map server -->
7         <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
8
9         <!-- Run AMCL -->
10         <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
11         <param name="amcl/base_frame_id" value="base_footprint" />
12
13         <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
14                 <param name="scan" value="scan" />
15                 <param name="delta" value="0.01" />
16                 <param name="map_update_interval" value="30" />
17                 <param name="linearUpdate" value="0.5" />
18                 <param name="angularUpdate" value="0.25" />
19                 <param name="xmin" value="-1.0"/>
20                 <param name="ymin" value="-1.0"/>
21                 <param name="xmax" value="1.0"/>
22                 <param name="ymax" value="1.0"/>
23                 <param name="odom_frame" value="odom"/>
24         </node>
25
26         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
27                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
28                 <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
29                 <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
30                 <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
31                 <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
32         </node>
33 </launch>