X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=441dbeaf5d13efb5af6b02609ef01a4fc533b56c;hp=47c23694173cc5818eb6e64947753427b95dfc14;hb=6925d3469d5f22b6271ece74540c0a30a51942db;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 47c2369..441dbea 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,13 +2,16 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
+	<arg name="nomap" default="false" />
 
 	<!-- Run the map server -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
 
 	<!-- Run AMCL -->
-	<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
-	<param name="amcl/base_frame_id" value="base_footprint" />
+	<group unless="$(arg nomap)">
+		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
+		<param name="amcl/base_frame_id" value="base_footprint" />
+	</group>
 
 	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
 		<param name="scan" value="scan" />
@@ -23,10 +26,11 @@
 		<param name="odom_frame" value="odom"/>
 	</node>
 
-	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" unless="$(arg slam_gmapping)">
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<rosparam file="$(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="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(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" />
 	</node>