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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

We will create a new file in the chapter7_tutorials/launch folder with the name move_base.launch and put the following code there:

<?xml version="1.0"?><launch><!-- Run the map server --><node name="map_server" pkg="map_server" type="map_server" args="$(find chapter7_tutorials)/maps/map.yaml" output="screen"/><include file="$(find amcl)/examples/amcl_diff.launch" ></include><node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"><param name="controller_frequency" value="10.0"/><param name="controller_patiente" value="15.0"/><rosparam file="$(find chapter7_tutorials)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" /><rosparam file="$(find chapter7_tutorials)/launch/costmap_common_params.yaml" ...

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