<launch>
<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
-
- <!-- Run the map server -->
- <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+ <arg name="nomap" default="false" />
<!-- Run AMCL -->
- <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
- <param name="amcl/base_frame_id" value="base_footprint" />
+ <group unless="$(arg nomap)">
+ <!-- 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>
<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
<param name="scan" value="scan" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(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" />
+ <remap from="/cmd_vel" to="move_base/cmd_vel"/>
</node>
</launch>