<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="global_utm" default="false" />
<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="global_utm" default="false" />
<arg name="nomap" default="false" />
<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
<arg name="nomap" default="false" />
<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
<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/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="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
<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" />
<rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
<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" />