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move_base.launch
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move_base.launch
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<launch>
<remap from="map" to="/rtabmap/grid_map"/>
<node pkg="rover_rtabmap_config" type="pc_rotater.py" name="rotate_fixer" output="screen" />
<node pkg="move_base" type="move_base" name="move_base" output="screen" respawn="true" clear_params="true" >
<rosparam file="$(find rover_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rover_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(find rover_navigation)/config/local_costmap_params.yaml" command="load"/>
<rosparam file="$(find rover_navigation)/config/global_costmap_params.yaml" command="load"/>
<rosparam file="$(find rover_navigation)/config/base_local_planner_params.yaml" command="load"/>
<param name="controller_frequency" value="15" />
<remap from="/cmd_vel" to="/cmd_vel_mux/move_base" />
</node>
<!--include file="$(find rover_rtabmap_config)/launch/move_base_obstacle_avoid_bringup.launch" /-->
</launch>