15 lines
807 B
XML
15 lines
807 B
XML
<launch>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find pioneer_2dnav)/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find pioneer_2dnav)/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find pioneer_2dnav)/base_local_planner_params.yaml" command="load" />
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<!-- NOTE: Use move_base_global.launch for globally qualified map topic -->
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<!-- START: Use with estop -->
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<!-- <remap from="cmd_vel" to="cmd_vel_estop"/>-->
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<!-- END: Use with estop -->
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</node>
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</launch>
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