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29 lines
1.6 KiB
29 lines
1.6 KiB
<launch>
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<!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
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<arg name="config"/>
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<arg name="cmd_vel_topic"/>
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<arg name="odom_topic"/>
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<!-- Use global costmap-->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<!-- Include robot specific parameters from the robot config folder -->
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find stretch_rtabmap)/config/costmap_height.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find stretch_rtabmap)/config/costmap_height.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/base_local_planner_params.yaml" command="load" />
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<rosparam file="$(find stretch_rtabmap)/config/$(arg config)/global_planner_params.yaml" command="load" />
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<param name="conservative_reset_dist" type="double" value="3.0" />
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<param name="controller_frequency" type="double" value="7.0" /> <!-- 20 -->
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<param name="planner_patience" value="10.0" />
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<param name="max_planning_retries" value="20" />
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<remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
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<remap from="odom" to="$(arg odom_topic)" />
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</node>
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</launch>
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