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labrobotica
ros
navigation
iri_rosnav
Commits
8875f20b
Commit
8875f20b
authored
Jun 27, 2021
by
Sergi Hernandez
Browse files
Added new arguments to set the name of the move_base stack.
Added the necessary remaps.
parent
f93cf4dc
Changes
2
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launch/include/move_base.launch
View file @
8875f20b
...
...
@@ -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
View file @
8875f20b
...
...
@@ -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)"
/>
...
...
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