added umbmark.py, tested with simulation

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 47c23694173cc5818eb6e64947753427b95dfc14..441dbeaf5d13efb5af6b02609ef01a4fc533b56c 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,13 +2,16 @@
 <launch>
        <arg name="slam_gmapping" default="false" />
        <arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
+       <arg name="nomap" default="false" />
 
        <!-- Run the map server -->
        <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
 
        <!-- Run AMCL -->
-       <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-       <param name="amcl/base_frame_id" value="base_footprint" />
+       <group unless="$(arg nomap)">
+               <include file="$(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)">
                <param name="scan" value="scan" />
@@ -23,10 +26,11 @@
                <param name="odom_frame" value="odom"/>
        </node>
 
-       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" unless="$(arg slam_gmapping)">
+       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
                <rosparam file="$(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" />
+               <rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
+               <rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
                <rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
                <rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
        </node>