Commit 90489f8a authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added two new arguments to specify the local and global planner configuration files.

parent bda460f5
......@@ -14,7 +14,9 @@
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="local_planner" default="dwa"/>
<arg name="local_planner_params" default="dwa_params.yaml"/>
<arg name="global_planner" default="global_planner"/>
<arg name="global_planner_params" default="global_planner_params.yaml"/>
<arg name="costmap_path" value="map" if="$(arg use_map)"/>
<arg name="costmap_path" value="no_map" unless="$(arg use_map)"/>
<arg name="output" default="screen" />
......@@ -34,8 +36,8 @@
<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/$(arg local_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/global_planner/$(arg global_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/local_planner/$(arg local_planner_params)" command="load" />
<rosparam file="$(arg path)/global_planner/$(arg global_planner_params)" command="load" />
<rosparam file="$(arg path)/costmap/$(arg costmap_common_params)" command="load" ns="local_costmap" />
<rosparam file="$(arg path)/costmap/$(arg costmap_local_params)" command="load" ns="local_costmap"/>
......
......@@ -32,7 +32,9 @@
<arg name="resolution" default="0.1"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="local_planner_params" default="dwa_params.yaml"/>
<arg name="global_planner" default="global_planner"/>
<arg name="global_planner_params" default="global_planner_params.yaml"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
......@@ -126,7 +128,9 @@
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="local_planner_params" value="$(arg local_planner_params)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="global_planner_params" value="$(arg global_planner_params)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
......
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