ellensohn/cps_rmp220_support
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Your Name 2025-01-17 13:12:49 +01:00
parent bcdb3a578f
commit f46047284d
1 changed files with 6 additions and 0 deletions
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6
launch/move_base.launch
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@ -14,6 +14,12 @@
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(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/global_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" /> <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
<!-- scan topic -->
<remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel -->
<remap from="cmd_vel" to="nav_vel"/>
<!-- remap odom -->
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
</node> </node>
<!-- AMCL --> <!-- AMCL -->