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Merge pull request LCAS#16 from LCAS/revert-12-multirobot-goto-node
Revert "Fix go_to_node not being available with namespaced topological_navigation"
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Original file line number | Diff line number | Diff line change |
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@@ -1,13 +1,9 @@ | ||
<?xml version="1.0" encoding="UTF-8" ?> | ||
<launch> | ||
<arg name="map"/> | ||
<!-- This is a setting for the map visualisation. If true, it will provide the green arrows on waypoints to use for | ||
navigation from rviz. If false, those will not be available. Setting this to false is required when running | ||
multiple instances topological_navigation, otherwise the map visualisation will probably not work --> | ||
<arg name="enable_goto_node" default="true"/> | ||
<node pkg="topological_navigation" type="map_manager.py" name="topological_map_manager" args="$(arg map)" respawn="true"/> | ||
<node pkg="fremenserver" type="fremenserver" name="fremenserver" respawn="true"/> | ||
<node pkg="topological_navigation" type="visualise_map.py" name="visualise_map" args="$(eval map + ' -edit' if not enable_goto_node else '')" output="screen" respawn="true"/> | ||
<node pkg="topological_navigation" type="visualise_map.py" name="visualise_map" args="$(arg map)" respawn="true"/> | ||
<node pkg="topological_navigation" type="travel_time_estimator.py" name="travel_time_estimator"/> | ||
<node pkg="topological_navigation" type="topological_prediction.py" name="topological_prediction" output="screen" respawn="true"/> | ||
</launch> |
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