<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="$(arg slam_gmapping)" />
-
<!-- Run AMCL -->
<group unless="$(arg nomap)">
+ <!-- Run the map server -->
+ <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+
<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
<param name="amcl/base_frame_id" value="base_footprint" />
</group>
<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" />
+ <remap from="/cmd_vel" to="move_base/cmd_vel"/>
</node>
</launch>