-reenable range layer

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 30f7ff1118caaa7e93aa8b51df49f12c7630f3f9..102f98dadb2639e63b42d40eadbc31c4e7a0f826 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -8,13 +8,13 @@
        <!-- Run AMCL -->
        <group unless="$(arg nomap)">
                <!-- Run the map server -->
        <!-- Run AMCL -->
        <group unless="$(arg nomap)">
                <!-- Run the map server -->

-               <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+               <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />

 
                <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
                <param name="amcl/base_frame_id" value="base_footprint" />
        </group>
 
 
                <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
                <param name="amcl/base_frame_id" value="base_footprint" />
        </group>
 

-       <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
+       <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">

                <param name="scan" value="scan" />
                <param name="delta" value="0.01" />
                <param name="map_update_interval" value="30" />
                <param name="scan" value="scan" />
                <param name="delta" value="0.01" />
                <param name="map_update_interval" value="30" />