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In your launch file, include the following:

<node name="map_node" pkg="map_server" type="map_server" 
      args="$(find your_package)/config/map.yaml" 
      respawn="false" output="screen" />

The file "map.yaml" could look like this:

image: empty_map.png
resolution: 0.0500000000
origin: [0.0, 0.0, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

In a file called global_costmap_params.yaml, you could include:

global_costmap:
    publish_voxel_map: true
    global_frame: map
    robot_base_frame: base_link
    update_frequency: 3.0
    publish_frequency: 0.0
    static_map: true
    rolling_window: false

And finally, in your launch file, you should put the following under move_base:

<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    ...
    <rosparam file="$(find navigation_config)/config/global_costmap_params.yaml" command="load" />
</node>