X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=2ee4b5a953fbcc2749296487a0adc05aa6bfb823;hp=ad307954ec94fb44bc80f51d35e4d2a6f8fc4ea6;hb=80b61518513631afbd8acdcab2b23a53266080ca;hpb=563871afdc06e5e917fe7b92d6f4745903cd4400

diff --git a/launch/move_base.launch b/launch/move_base.launch
index ad30795..2ee4b5a 100644
--- 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="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
@@ -27,11 +28,14 @@
 	</node>
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+		<param name="base_local_planner" value="$(arg base_local_planner)"/>
+		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(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>