ellensohn/cps_rmp220_support
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Update move_base_core.launch

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bjoernellens1 2025-01-22 11:29:37 +01:00 committed by GitHub
parent a57d981e71
commit 804bdb23e8
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1 changed files with 3 additions and 2 deletions
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launch/move_base_core.launch
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@ -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>
</launch>