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- <launch>
- <!-- This file launches the navigation stack for the Pioneer Robot. -->
- <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
- <param name="footprint_padding" value="0.01" />
- <param name="controller_frequency" value="10.0" />
- <param name="controller_patience" value="5.0" />
- <param name="oscillation_timeout" value="8.0" />
- <param name="oscillation_distance" value="0.5" />
- <param name="recovery_behavior_enabled" value="true" type="bool" />
- <param name="clearing_rotation_allowed" value="true" type="bool" />
- <param name="shutdown_costmaps" value="false" type="bool" />
- <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/costmap_common_params_revy1.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/costmap_common_params_revy1.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/local_costmap_params_revy1.yaml" command="load" />
- <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/global_costmap_params_revy1.yaml" command="load" />
- <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/base_local_planner_params_revy1.yaml" command="load" />
- </node>
- </launch>
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