X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=30f7ff1118caaa7e93aa8b51df49f12c7630f3f9;hp=ad307954ec94fb44bc80f51d35e4d2a6f8fc4ea6;hb=e5d50b6babe986a2dcd4eff47a9600a6014e5d96;hpb=563871afdc06e5e917fe7b92d6f4745903cd4400

diff --git a/launch/move_base.launch b/launch/move_base.launch
index ad30795..30f7ff1 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)">
@@ -19,19 +20,22 @@
 		<param name="map_update_interval" value="30" />
 		<param name="linearUpdate" value="0.5" />
 		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-1.0"/>
-		<param name="ymin" value="-1.0"/>
-		<param name="xmax" value="1.0"/>
-		<param name="ymax" value="1.0"/>
+		<param name="xmin" value="-5.0"/>
+		<param name="ymin" value="-5.0"/>
+		<param name="xmax" value="5.0"/>
+		<param name="ymax" value="5.0"/>
 		<param name="odom_frame" value="odom"/>
 	</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>