X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;fp=launch%2Fmove_base.launch;h=e64852e14b1ff795b45f6d8f17e9f7b780a0f4a8;hp=69073a4b44a239d2d6de174903c3b53c14f1c991;hb=59f39a51a977ca93173e1074db0e7381a3d24e0d;hpb=e7c8b64287cfec34bcb9527c769389222ec3f3be

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 69073a4..e64852e 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,7 +2,7 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
-	<arg name="global_utm" default="false" />
+	<arg name="global_gps" default="false" />
 	<arg name="global_odom" default="false" />
 	<arg name="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
@@ -43,8 +43,8 @@
 		<rosparam file="$(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="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odm)" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_gps.yaml" command="load" if="$(arg global_gps)" />
 		<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"/>