From 8875f20b77dd35a6ac6d5c7aa5f3c8e38adbb8e0 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Sun, 27 Jun 2021 20:51:00 +0200
Subject: [PATCH] Added new arguments to set the name of the move_base stack.
Added the necessary remaps.
---
launch/include/move_base.launch | 5 ++++-
launch/nav.launch | 4 ++++
2 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch
index b75d411..0721ea6 100644
--- a/launch/include/move_base.launch
+++ b/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/$(arg local_planner)_params.yaml" command="load" />
diff --git a/launch/nav.launch b/launch/nav.launch
index 0d57368..89e2a57 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -2,6 +2,7 @@
<!-- -->
<launch>
<arg name="ns" default="robot"/>
+ <arg name="move_base_name" default="move_base"/>
<arg name="path" default="$(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)"/>
--
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