21 lines
864 B
Text
21 lines
864 B
Text
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<launch>
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<!-- SLAM mapping nodes -->
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<node pkg="gmapping" type="slam_gmapping" name="gmapping">
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<remap from="scan" to="base_scan"/>
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</node>
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<!-- Include move base launch file -->
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<!-- Use with Pioneer Gazebo simulation and Pioneer3dx robot platform -->
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<include file="$(find pioneer_2dnav)/move_base.launch"/>
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<!-- Use with stagebot simulation -->
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<!-- <include file="$(find stagebot_2dnav)/move_base.launch"/> -->
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<!-- Recovery from stall -->
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<!-- <node pkg="pioneer_ros" type="move_base_recover" name="recovery_cmd_vel" output="screen"/>-->
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<!-- Move base clients for waypoint navigation -->
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<node pkg="simple_navigation_goals" type="base_link_navigation_client" name="base_link_goal_client" output="screen"/>
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<node pkg="simple_navigation_goals" type="map_navigation_client" name="map_goal_client" output="screen"/>
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</launch>
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