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navigation.launch
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navigation.launch
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<launch>
<node pkg="move_base" type="move_base" name="Pioneer3AT_move_base">
<rosparam file="$(find pioneer3at)/config/move_base/move_base.yaml" command="load"/>
<rosparam file="$(find pioneer3at)/config/move_base/costmap_common.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find pioneer3at)/config/move_base/costmap_common.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find pioneer3at)/config/move_base/costmap_global.yaml" command="load" />
<rosparam file="$(find pioneer3at)/config/move_base/costmap_local.yaml" command="load"/>
<remap from="cmd_vel" to="/Pioneer3AT/move_base/cmd_vel" />
<remap from="move_base/cancel" to="/Pioneer3AT/move_base/cancel" />
<remap from="move_base/feedback" to="/Pioneer3AT/move_base/feedback" />
<remap from="move_base/goal" to="/Pioneer3AT/move_base/goal" />
<remap from="move_base/result" to="/Pioneer3AT/move_base/result" />
<remap from="move_base/status" to="/Pioneer3AT/move_base/status" />
<remap from="move_base_simple/goal" to="/Pioneer3AT/move_base_simple/goal" />
</node>
</launch>