From 90489f8aeed32db90c61d17f6c8875df3c02457a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 11 May 2022 19:59:21 +0200
Subject: [PATCH] Added two new arguments to specify the local and global
planner configuration files.
---
launch/include/move_base.launch | 6 ++++--
launch/nav.launch | 4 ++++
2 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch
index 0721ea6..94c2e3f 100644
--- a/launch/include/move_base.launch
+++ b/launch/include/move_base.launch
@@ -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/$(arg costmap_local_params)" command="load" ns="local_costmap"/>
diff --git a/launch/nav.launch b/launch/nav.launch
index 89e2a57..68cf3e6 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -32,7 +32,9 @@
<arg name="resolution" default="0.1"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
+ <arg name="local_planner_params" default="dwa_params.yaml"/>
<arg name="global_planner" default="global_planner"/>
+ <arg name="global_planner_params" default="global_planner_params.yaml"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
@@ -126,7 +128,9 @@
<arg name="odom_topic" value="$(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>
--
GitLab