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Added move_base actionlib to set goal with feedback

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Mathieu Labbe
2015-02-06 15:27:02 -05:00
parent cd4975849a
commit 73bdbfc0c2
4 changed files with 89 additions and 13 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+4 -2
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@@ -2,7 +2,7 @@
<launch>
<!-- args: "delete_db_on_start" and "udebug" -->
<arg name="rtabmap_args" default="--delete_db_on_start" />
<arg name="rtabmap_args" default="" />
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -26,8 +26,10 @@
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="goal_pose" to="/planner_goal"/>
<remap from="goal_out" to="/planner_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>