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navigate_waypoints_slam.launch
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navigate_waypoints_slam.launch
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<?xml version='1.0'?>
<launch>
<!-- Rviz configuration -->
<arg name="rvizconfig" default="$(find bbblue_bot_description)/rviz/mpc_traj.rviz"/>
<!-- Launch Rviz and Gazebo Simulation -->
<include file="$(find bbblue_bot_description)/launch/scrappy_gazebo.launch">
<arg name="rvizconfig" value="$(arg rvizconfig)"/>
<arg name="gui" value="false" />
</include>
<!-- Launch slam_gmapping -->
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" output="screen">
<rosparam file="$(find bbblue_navigation)/config/slam_gmapping_params.yaml" />
<remap from="scan" to="/scan"/>
<remap from="map" to="/map"/>
</node>
<!-- Launch move_base -->
<node pkg="move_base" type="move_base" name="move_base" respawn="false" output="screen">
<rosparam file="$(find mpc_waypoint_tracking_controller)/params/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mpc_waypoint_tracking_controller)/params/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mpc_waypoint_tracking_controller)/params/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mpc_waypoint_tracking_controller)/params/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mpc_waypoint_tracking_controller)/params/mpc_waypoint_tracker_ros_params.yaml" command="load" />
<param name="base_global_planner" value="waypoints_global_planner/WaypointsGlobalPlanner" />
<param name="base_local_planner" value="mpc_waypoint_tracking_controller/MPCWayPointTrackerROS" />
<remap from="cmd_vel" to="/scrappy_controller/cmd_vel"/>
<remap from="odom" to="/scrappy_controller/odom"/>
</node>
</launch>