move_base: don't launch mapserver if nomap is set
authorErik Andresen <erik@vontaene.de>
Tue, 22 Sep 2015 17:46:02 +0000 (19:46 +0200)
committerErik Andresen <erik@vontaene.de>
Tue, 22 Sep 2015 17:46:02 +0000 (19:46 +0200)
launch/move_base.launch

index 441dbea..ad30795 100644 (file)
@@ -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>