ROS Programming: Building Powerful Robots

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" ...