<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="nomap" default="false" />
+ <arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
<!-- Run AMCL -->
<group unless="$(arg nomap)">
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+ <param name="base_local_planner" value="$(arg base_local_planner)"/>
<rosparam file="$(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" unless="$(arg nomap)" />