move_base.launch

<?xml version="1.0"?>

<launch>
  <!-- Arguments -->
  <arg name="cmd_vel_topic" default="/robile_john/cmd_vel" />
  <arg name="odom_topic" default="/robile_john/odom" />
  <arg name="local_planner" default="dwa" doc="Local planner can be either dwa, dwb, base, teb or pose"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <!-- base_local_planner parameter is set in the loaded parameter file depending on the local_planner argument -->
    <rosparam file="$(find robile_navigation)/config/$(arg local_planner)_local_planner_params.yaml" command="load" />
    <rosparam file="$(find robile_navigation)/config/move_base_params.yaml" command="load" />
    <!-- global costmap params -->
    <rosparam file="$(find robile_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find robile_navigation)/config/costmap_global_params.yaml" command="load" />
    <!-- local costmap params -->
    <rosparam file="$(find robile_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find robile_navigation)/config/costmap_local_params.yaml" command="load" />
    <!-- remappings -->
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>
</launch>