<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<param name="base_local_planner" value="$(arg base_local_planner)"/>
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />