move_base

    <node pkg="move_base" name="MoveBase" type="move_base" output="screen">
        <!--param name="base_global_planner" value="carrot_planner/CarrotPlanner" /-->
        <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
        <!--param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /-->
        <!--param name="base_local_planner" value="pose_follower/PoseFollower" /-->
        <rosparam file="$(find otter4_tf)/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find otter4_tf)/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find otter4_tf)/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find otter4_tf)/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find otter4_tf)/base_local_planner_params.yaml" command="load" />
        <remap from="map" to="/map" />
    </node>