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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Creating a launch file for the navigation stack

Now we have all the files created and the navigation stack is configured. To run everything, we are going to create a launch file. Create a new file in the chapter6_tutorials/launch folder, and put the following code in a file with the name move_base.launch:

<launch> <!-- Run the map server --> <node name="map_server" pkg="map_server" type="map_server" args="$(find chapter6_tutorials)/maps/map.yaml" output="screen" /> <include file="$(find amcl)/examples/amcl_diff.launch" /> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find chapter6_tutorials)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find ...

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