Commit 8875f20b authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

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

Added the necessary remaps.
parent f93cf4dc
......@@ -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/$(arg local_planner)_params.yaml" command="load" />
......
......@@ -2,6 +2,7 @@
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="move_base_name" default="move_base"/>
<arg name="path" default="$(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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