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22 lines
1.1 KiB
XML
22 lines
1.1 KiB
XML
<launch>
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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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<include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
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<param name="footprint_padding" value="0.01"/>
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<param name="controller_frequency" value="10.0"/>
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<param name="controller_patience" value="3.0"/>
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<param name="oscillation_timeout" value="30.0"/>
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<param name="oscillation_distance" value="0.5"/>
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<rosparam file="$(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> |