Navigation/NavigationStack.launch at master · Delmond/Navigation · GitHub

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<launch>
	<master auto="start"/>
	<param name="/use_sim_time" value="true"/>
	<!--Simulator -->
	<node pkg="stage_ros" type="stageros" name="stage" args="/home/delmond/Documents/ROS/stage_worlds/pioneer.world">
		<param name="base_watchdog_timeout" value="0.2"/>
	</node>

	<!-- Controller -->
	<node pkg="rqt_gui" type="rqt_gui" name="rqt_gui">
	</node>
	<!-- Visualizer -->
	<node pkg="rviz" type="rviz" name="rviz">
	</node>

	<!-- Navigation Stack -->

	<!-- SLAM -->
	<node pkg="gmapping" type="slam_gmapping"
		respawn="false" name="slam_gmapping" output="screen">
		<remap from="scan" to="/base_scan" />
		<param name="map_update_interval" value="5.0"/>
		<param name="maxUrange" value="6.0"/>
		<param name="iterations" value="1"/>
		<param name="linearUpdate" value="0.1"/>
		<param name="angularUpdate" value="0.1"/>
		<param name="temporalUpdate" value="-1.0" />
		<param name="particles" value="300"/>
		<param name="xmin" value="-50.0"/>
		<param name="ymin" value="-50.0"/>
		<param name="xmax" value="50.0"/>
		<param name="ymax" value="50.0"/>
		<param name="base_frame" value="base_link"/>
		<param name="minimumScore" value="200.0"/>
		<param name="srr" value="0.03"/>
		<param name="str" value="0.03"/>
		<param name="srt" value="0.00"/>
		<param name="stt" value="0.05"/>
		<param name="transform_publish_period" value="0.1"/>
	</node>

	<!-- Global and Local path planner -->
	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
		<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/costmap_common_params.yaml"
			command="load" ns="global_costmap" />
		<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/costmap_common_params.yaml"
			command="load" ns="local_costmap" />
		<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/local_costmap_params.yaml"
			command="load" />
		<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/global_costmap_params.yaml"
			command="load" />
		<rosparam file="/home/delmond/Documents/ROS/Workspace/src/pathplanner/src/local_planner_params.yaml"
			command="load" />
		<param name="base_global_planner" type="string" value="navfn/NavfnROS" />
		<param name="base_local_planner" value="pathplanner/DynamicWindow" />
		<param name="controller_frequency" type="double" value="6.0" />
	</node>

</launch>