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mapf_example.launch
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mapf_example.launch
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<launch>
<!-- 1.load the low resolution map -->
<arg name="map" default="rgmap0217_low_reso.yaml" />
<group ns="mapf_base">
<node name="map_server" pkg="map_server" type="map_server"
args="$(find ridgeback_navigation)/maps/$(arg map)" />
</group>
<!-- 2. launch mapf_base node -->
<node pkg="mapf_base" type="mapf_base" name="mapf_base" output="screen" respawn="true">
<rosparam file="$(find mapf_base)/params/costmap_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mapf_base)/params/mapf_params.yaml" command="load" />
<!-- name of mapf_planner; possible values: {
mapf_planner/CBSROS,
mapf_planner/ECBSROS,
mapf_planner/SIPPROS
} -->
<param name="mapf_planner" value="mapf_planner/ECBSROS" />
<rosparam file="$(find mapf_base)/params/ecbs_params.yaml" command="load" />
</node>
<!-- 3. launch goal_transformer and plan_executor -->
<group ns="mapf_base">
<node pkg="mapf_base" type="goal_transformer" name="goal_transformer" output="screen"> </node>
<node pkg="mapf_base" type="plan_executor" name="plan_executor" output="screen"> </node>
</group>
</launch>