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18 lines
842 B
XML
18 lines
842 B
XML
<launch>
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<master auto="start"/>
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<!-- Run the map server -->
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<node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi)/map/Untitled.pgm 0.05"/>
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<!--- Run AMCL -->
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<include file="$(find amcl)/examples/amcl_diff.launch" />
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find qt_pi)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find qt_pi)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find qt_pi)/config/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find qt_pi)/config/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find qt_pi)/config/base_local_planner_params.yaml" command="load" />
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</node>
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</launch>
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