split parameter files for mapping/planning #10
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The differences are simple: When mapping, first_map_only must be set to false, and the virtual walls plugin must not be loaded (else move_base will wait for a topic that is not going to be published).
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kdhansen
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Dec 6, 2023
Added headless launch file to mir_driver in galactic-devel
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When creating a new map there are no virtual walls to take into account, and if we keep the
virtual_walls_maplayer in the costmaps, move base will wait for them indefinitely. Hence this PR splits the costmap configs and adds new files for the different use cases, "planning", which includes the layer, and "mapping", which doesn't.Also, the parameter
first_map_onlyis set to false in the mapping-configs.The
move_base.xmlis updated to include the new config files, and distinguishes between the mapping and planning cases based on themapping-argument, which defaults tofalse. So I think the changes should be compatible with other existing launch files and only add the possibility to disable the virtual walls layer and set the first_map_only to false with one argument.