ellensohn/cps_rmp220_support
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Update move_base.launch

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bjoernellens1 2025-02-10 11:25:01 +01:00 committed by GitHub
parent f217658f66
commit fccec769ad
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1 changed files with 7 additions and 7 deletions
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launch/move_base.launch
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@ -5,15 +5,15 @@
<!-- Run the map server --> <!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> --> <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/> <node name="map_server" pkg="map_server" type="map_server" args="/maps/map.yaml"/>
<!--move base--> <!--move base-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(find cps_rmp220_support)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" /> <rosparam file="$(find cps_rmp220_support)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(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 --> <!-- scan topic -->
<remap from="scan" to="scan_filtered"/> <remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel --> <!-- remap cmd_vel -->
@ -72,4 +72,4 @@
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms --> 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" /> --> <!-- <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>