DuongTD/move_base2
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optimal & fix file cmake

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duongtd
2026-08-03 22:41:32 +07:00
parent d8babff20b
commit 701d25f952
70 changed files with 5572 additions and 1146 deletions
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6
launch/move_base2_control.launch
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@@ -26,7 +26,8 @@
<env name="PNKX_NAV_CORE_CONFIG_DIR" value="$(find move_base2)/config/runtime" />
<param name="rosconsole_config_file" value="$(find amr_startup)/rosconsole.config" />
<rosparam file="$(find amr_startup)/config/mqtt_general.yaml" command="load" />
<!-- subst_value: mqtt_general.yaml dung $(find amr_startup) cho duong dan factsheet -->
<rosparam file="$(find amr_startup)/config/mqtt_general.yaml" command="load" subst_value="true" />
<node pkg="amr_control" type="amr_control_node" respawn="false" name="amr_node" output="screen" clear_params="true">
<rosparam param="footprint" if="$(eval robot_type == 'imr')">
@@ -45,7 +46,8 @@
<param name="primitive_filename" value="$(arg primitive_filename)" />
<param name="global_plan_msg_type" value="$(arg global_plan_msg_type)" />
<rosparam file="$(find amr_startup)/config/maker_sources.yaml" command="load" />
<!-- maker_sources is loaded by robot::NodeHandle from this launch's move_base2 runtime
overlay. Do not also load amr_startup's legacy copy: its contents diverge. -->
<rosparam file="$(find amr_startup)/config/move_base_common_params.yaml" command="load" />
<rosparam file="$(find amr_startup)/config/$(arg global_planner)_global_params.yaml" command="load" />
<rosparam file="$(find amr_startup)/config/$(arg local_planner)_local_planner_params.yaml" command="load" />