ellensohn/cps_rmp220_support
1
0
Fork 0
mirror of https://github.com/bjoernellens1/cps_rmp220_support.git synced 2025-02-22 22:16:47 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update move_base.launch

Browse Source
This commit is contained in:
bjoernellens1 2025-02-10 11:25:01 +01:00 committed by GitHub
parent f217658f66
commit fccec769ad
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
launch/move_base.launch
View File

@ -5,15 +5,15 @@
<!-- 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 cps_rmp220_support)/maps/map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="/maps/map.yaml"/>
<!--move base-->
<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 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/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" />
<!-- scan topic -->
<remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel -->
@ -72,4 +72,4 @@
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>