From 804bdb23e812e286b04ea809435380f5a8d71fa4 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Wed, 22 Jan 2025 11:29:37 +0100
Subject: [PATCH] Update move_base_core.launch

---
 launch/move_base_core.launch | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/launch/move_base_core.launch b/launch/move_base_core.launch
index 19ba131..2531bb6 100644
--- a/launch/move_base_core.launch
+++ b/launch/move_base_core.launch
@@ -9,11 +9,12 @@
 
   <!--move base-->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
     <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
     <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" />
     <!-- scan topic -->
     <remap from="scan" to="scan_filtered"/>
     <!-- remap cmd_vel -->
@@ -27,4 +28,4 @@
   static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->  
   <!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
 
-</launch>
\ No newline at end of file
+</launch>