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23 lines
1.1 KiB
XML
23 lines
1.1 KiB
XML
<launch>
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<master auto="start"/>
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<remap from="scan" to="qt_pi/scan"/>
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<remap from="cmd_vel" to="qt_pi/cmd_vel"/>
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<remap from="odom" to="qt_pi/odom"/>
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<node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/playground.yaml"/>
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<node name="amcl" pkg="amcl" type="amcl">
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<param name="base_frame_id" value="qt_pi/base_link" type="string"/>
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<param name="odom_frame_id" value="qt_pi/odom" type="string"/>
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<param name="odom_model_type" value="diff" type="string"/>
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</node>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
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<rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
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<rosparam file="$(find qt_pi_gazebo_sim)/config/local_costmap_params.yaml" command="load"/>
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<rosparam file="$(find qt_pi_gazebo_sim)/config/global_costmap_params.yaml" command="load"/>
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<rosparam file="$(find qt_pi_gazebo_sim)/config/base_local_planner_params.yaml" command="load"/>
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</node>
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</launch> |