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<?xml version="1.0"?>
<launch>
<master auto="start"/>
<!-- Map server -->
<arg name="map_file" default="$(find rosbot_navigation)/maps/test_map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- Localization -->
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<remap from="scan" to="/scan"/>
<param name="odom_frame_id" value="odom"/>
<param name="odom_model_type" value="diff-corrected"/>
<param name="base_frame_id" value="base_link"/>
<param name="update_min_d" value="0.5"/>
<param name="update_min_a" value="1.0"/>
</node>
<!--include file="$(find amcl)/examples/amcl_omni.launch"/-->
<!-- Move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rosbot_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/trajectory_planner.yaml" command="load" />
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<remap from="scan" to="/scan"/>
<param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
<param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>
</node>
</launch>