navigation stack tuning

[ros_wild_thumper.git] / launch / move_base.launch

diff --git a/launch/move_base.launch b/launch/move_base.launch
index ad307954ec94fb44bc80f51d35e4d2a6f8fc4ea6..a046e6eaf60522b917730cf8d03bd001e3461702 100644 (file)
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,6 +3,7 @@
        <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)">
@@ -27,11 +28,13 @@
        </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="$(arg nomap)" />
                <rosparam file="$(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>