mirror of
https://github.com/6-robot/wpr_simulation.git
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21 lines
1.1 KiB
XML
21 lines
1.1 KiB
XML
<launch>
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<!--- Run move_base -->
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<node pkg="move_base" type="move_base" name="move_base">
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
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<param name="base_global_planner" value="global_planner/GlobalPlanner" />
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<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
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</node>
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<!-- Run map server -->
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<node pkg="map_server" type="map_server" name="map_server" args="$(find wpr_simulation)/maps/map.yaml"/>
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<!--- Run AMCL -->
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<node pkg="amcl" type="amcl" name="amcl"/>
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<!--- Run rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find wpr_simulation)/rviz/nav.rviz"/>
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</launch>
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