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Our move base launch file

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Jul 17th, 2011
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  1. <launch>
  2.  
  3. <!-- Throttle the voxel grid that is being published for rviz -->
  4. <!-- <node ns="move_base_node/local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" />
  5. -->
  6. <!-- for moving -->
  7.  
  8. <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
  9. <remap from="odom" to="odom" />
  10. <remap from="map" to="/map" />
  11. <remap from="cmd_vel" to="cmd_vel" />
  12. <!-- Load common configuration files -->
  13. <rosparam file="$(find raven_navigation)/navigation_config/move_base_params.yaml" command="load" />
  14. <rosparam file="$(find raven_navigation)/navigation_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  15. <rosparam file="$(find raven_navigation)/navigation_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  16. <rosparam file="$(find raven_navigation)/navigation_config/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />
  17. <!-- Load global navigation specific parameters -->
  18. <rosparam file="$(find raven_navigation)/navigation_global/config/local_costmap_params.yaml" command="load" />
  19. <rosparam file="$(find raven_navigation)/navigation_global/config/global_costmap_params.yaml" command="load" />
  20. <rosparam file="$(find raven_navigation)/navigation_global/config/base_local_planner_params.yaml" command="load" />
  21. </node>
  22. </launch>
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