jumeau_pioneer3DX/Projet/pioneer_2dnav/move_base_global.launch

15 lines
763 B
XML

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