X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=88705b986a889311881e490c8ca7496b26754f96;hp=3c1880d8d4ae09f3cb55a9c49ae91ed4d6db21db;hb=670ead7985c1c4df661d9e95e20a0b805c0347f8;hpb=dad024ae410398fbf60b75619545e9ee4ab9dad3

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 3c1880d..88705b9 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -14,23 +14,7 @@
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
-		<param name="scan" value="scan" />
-		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="5.0" />
-		<param name="linearUpdate" value="0.5" />
-		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-5.0"/>
-		<param name="ymin" value="-5.0"/>
-		<param name="xmax" value="5.0"/>
-		<param name="ymax" value="5.0"/>
-		<param name="odom_frame" value="odom"/>
-		<param name="maxUrange" value="6.0"/>
-		<param name="maxRange" value="8.0"/>
-		<param name="minimumScore" value="200"/>
-		<param name="linearUpdate" value="0.5"/>
-		<param name="particles" value="80"/>
-	</node>
+	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>