Added new arguments to set the name of the move_base stack.

Added the necessary remaps.

launch/include/move_base.launch

@@ -3,6 +3,7 @@
 <launch>
 
   <arg name="ns"                       default="robot"/>
+  <arg name="move_base_name"           default="move_base"/>
   <arg name="path"                     default="$(find iri_rosnav)/params"/>
   <arg name="move_base_params"         default="move_base_params.yaml"/>
   <arg name="costmap_common_params"    default="common_params.yaml"/>
@@ -23,12 +24,14 @@
 
     <node pkg ="move_base" 
           type="move_base" 
-          name="move_base"
+          name="$(arg move_base_name)"
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
       <remap from="/map"    to="$(arg map_topic)" />
       <remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
       <remap from="odom"    to="$(arg odom_topic)" />
+      <remap from="move_base_simple/goal"    to="$(arg move_base_name)_simple/goal" />
+      <remap from="move_base"    to="$(arg move_base_name)" />
 
       <rosparam file="$(arg path)/$(arg move_base_params)"                                  command="load" />
       <rosparam file="$(arg path)/local_planner/$(arg local_planner)_params.yaml"           command="load" />

launch/nav.launch

@@ -2,6 +2,7 @@
 <!-- -->
 <launch>
   <arg name="ns"                         default="robot"/>
+    <arg name="move_base_name"           default="move_base"/>
     <arg name="path"                     default="$(find iri_rosnav)/params"/>
     <arg name="move_base_params"         default="move_base_params.yaml"/>
     <arg name="costmap_common_params"    default="common_params.yaml"/>
@@ -82,6 +83,7 @@
     </group>
   </group>
 
+<!--
   <group unless="$(arg use_fake_loc)">
     <group unless="$(arg use_map)">
       <node pkg="tf" 
@@ -92,6 +94,7 @@
       </node>
     </group>
   </group>
+-->
 
   <group if="$(arg use_fake_loc)"> 
     <include file="$(find iri_rosnav)/launch/include/fake_loc.launch">
@@ -112,6 +115,7 @@
   <group if="$(arg use_move_base)"> 
     <include file="$(find iri_rosnav)/launch/include/move_base.launch">
       <arg name="ns"                       value="$(arg ns)"/>
+      <arg name="move_base_name"           value="$(arg move_base_name)"/>
       <arg name="path"                     value="$(arg path)"/>
       <arg name="move_base_params"         value="$(arg move_base_params)"/>
       <arg name="costmap_common_params"    value="$(arg costmap_common_params)"/>