From 974ddabe12a4d0a8f7a29bc48b12133e95b1328d Mon Sep 17 00:00:00 2001
From: "Alan G. Sanchez" <asanchez@hello-robot.com>
Date: Mon, 12 Sep 2022 14:23:33 -0700
Subject: [PATCH] Included global planner parameters and planner type in the
 launch file.

---
 stretch_navigation/launch/navigation.launch | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/stretch_navigation/launch/navigation.launch b/stretch_navigation/launch/navigation.launch
index 30e9221..b4fe344 100644
--- a/stretch_navigation/launch/navigation.launch
+++ b/stretch_navigation/launch/navigation.launch
@@ -27,6 +27,9 @@
     <rosparam file="$(find stretch_navigation)/config/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/global_costmap_params_withmap.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find stretch_navigation)/config/base_global_planner_params.yaml" command="load" />
+    
+    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
     <remap from="/cmd_vel" to="/stretch/cmd_vel" />
   </node>