From 74702ba9a98353d46e5092ae2109dcdc0532c624 Mon Sep 17 00:00:00 2001
From: Hadrien <hadrien@noreply.localhost>
Date: Sat, 27 Jun 2020 10:20:02 +0200
Subject: [PATCH] =?UTF-8?q?Transf=C3=A9rer=20les=20fichiers=20vers=20'Proj?=
 =?UTF-8?q?et/nav=5Fbundle/launch'?=
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---
 Projet/nav_bundle/launch/nav_bundle.launch | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)
 create mode 100644 Projet/nav_bundle/launch/nav_bundle.launch

diff --git a/Projet/nav_bundle/launch/nav_bundle.launch b/Projet/nav_bundle/launch/nav_bundle.launch
new file mode 100644
index 0000000..6bfda74
--- /dev/null
+++ b/Projet/nav_bundle/launch/nav_bundle.launch
@@ -0,0 +1,20 @@
+<launch>
+  <!-- SLAM mapping nodes -->
+  <node pkg="gmapping" type="slam_gmapping" name="gmapping">
+	  <remap from="scan" to="base_scan"/> 
+  </node>
+  
+  <!-- Include move base launch file -->
+  <!-- Use with Pioneer Gazebo simulation and Pioneer3dx robot platform -->
+  <include file="$(find pioneer_2dnav)/move_base.launch"/>
+	
+	<!-- Use with stagebot simulation -->
+<!--	<include file="$(find stagebot_2dnav)/move_base.launch"/> -->
+	
+  <!-- Recovery from stall -->
+<!--  <node pkg="pioneer_ros" type="move_base_recover" name="recovery_cmd_vel" output="screen"/>-->
+  
+  <!-- Move base clients for waypoint navigation -->
+  <node pkg="simple_navigation_goals" type="base_link_navigation_client" name="base_link_goal_client" output="screen"/>
+  <node pkg="simple_navigation_goals" type="map_navigation_client" name="map_goal_client" output="screen"/>
+</launch>