<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="nomap" default="false" />
<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="nomap" default="false" />
<param name="map_update_interval" value="30" />
<param name="linearUpdate" value="0.5" />
<param name="angularUpdate" value="0.25" />
<param name="map_update_interval" value="30" />
<param name="linearUpdate" value="0.5" />
<param name="angularUpdate" value="0.25" />
- <param name="xmin" value="-1.0"/>
- <param name="ymin" value="-1.0"/>
- <param name="xmax" value="1.0"/>
- <param name="ymax" value="1.0"/>
+ <param name="xmin" value="-5.0"/>
+ <param name="ymin" value="-5.0"/>
+ <param name="xmax" value="5.0"/>
+ <param name="ymax" value="5.0"/>
<param name="odom_frame" value="odom"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<param name="odom_frame" value="odom"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />