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<launch>
<!-- Throttle the voxel grid that is being published for rviz -->
<node ns="move_base_node/local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" />
<!-- for moving -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="odom" to="odom" />
<remap from="cmd_vel" to="cmd_vel" />
<!-- Load common configuration files -->
<rosparam file="$(find erratic_navigation)/navigation_config/move_base_params.yaml" command="load" />
<rosparam file="$(find erratic_navigation)/navigation_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find erratic_navigation)/navigation_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find erratic_navigation)/navigation_config/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />
<!-- Load global navigation specific parameters -->
<rosparam file="$(find erratic_navigation)/navigation_slam/config/move_base_params.yaml" command="load" />
<rosparam file="$(find erratic_navigation)/navigation_slam/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find erratic_navigation)/navigation_slam/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find erratic_navigation)/navigation_slam/config/base_local_planner_params.yaml" command="load" />
</node>
</launch>
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