X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fmove_base.launch;h=989cedcfb2781e0087d1e90381732b5a86ea1ecf;hp=441dbeaf5d13efb5af6b02609ef01a4fc533b56c;hb=6ee1741e4ff83522b2cbd9860ad4ff4d00b42216;hpb=6925d3469d5f22b6271ece74540c0a30a51942db

diff --git a/launch/move_base.launch b/launch/move_base.launch
index 441dbea..989cedc 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -4,11 +4,11 @@
 	<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 -->
 	<group unless="$(arg nomap)">
+		<!-- Run the map server -->
+		<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" unless="$(arg slam_gmapping)" />
+
 		<include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
@@ -33,5 +33,6 @@
 		<rosparam file="$(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>