The next node we need to configure is move_base. Along with the move_base node, we need to configure the global and the local planners, and also the global and the local cost maps. We will first look at the launch file to load all these configuration files. The following launch file, chefbot_bringup/launch/includes/move_base.launch.xml, will load all the parameters of move_base, planner, and costmap:
<launch> <arg name="odom_topic" default="odom" /> <!-- Starting move_base node --> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <!-- common parameters of global costmap --> <rosparam file="$(find chefbot_bringup)/param/costmap_common_params.yaml" command="load" ...
