From b978bbf176465ee18c96e435f65e47f184aabe40 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 3 Nov 2020 18:21:58 +0100
Subject: [PATCH] Removed the RVIZ arguments and the RVIZ node. Added the
odom_topic argument.
---
launch/nav_nomap.launch | 12 ++----------
1 file changed, 2 insertions(+), 10 deletions(-)
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index 617e9fc..3c1d4bd 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -2,14 +2,13 @@
<!-- -->
<launch>
- <arg name="rviz" default="true"/>
- <arg name="rviz_file" default="$(find model_car_rosnav)/rviz/model_car_no_map.rviz"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="local_planner" default="ackermann"/>
<arg name="global_planner" default="sbpl"/>
+ <arg name="odom_topic" default="/model_car/odom"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
@@ -25,7 +24,7 @@
<arg name="base_frame_id" value="model_car/base_footprint"/>
<arg name="map_topic" value="/model_car/map"/>
<arg name="map_service" value="/model_car/static_map"/>
- <arg name="odom_topic" value="/model_car/odom"/>
+ <arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="/model_car/cmd_vel"/>
<arg name="scan_topic" value="/model_car/sensors/scan"/>
<arg name="use_map" value="false"/>
@@ -42,11 +41,4 @@
<param name="/model_car/move_base/SBPLLatticePlanner/primitive_filename" value="$(find model_car_rosnav)/model_car.mprim" />
- <node name="rviz"
- pkg="rviz"
- type="rviz"
- if="$(arg rviz)"
- args="-d $(arg rviz_file)">
- </node>
-
</launch>
--
GitLab