<div dir="ltr"><div>Hi<br><br>After some nice discussion with the navigation community we figured out a way how to deal with the shared parameters using roslaunch variables:<br><br></div>Have a look at:<br><br><br><launch><br>
<br>  <arg name="robot_name" default="r1" /><br>
  <arg name="room" default="gh25" /><br>  <arg name="env" default="sim" /><br>  <arg name="scan" default="front_laser/scan" /><br>  <br>  <br>
   <!-- Mapserver --><br>
  <include file="$(find v4r_launch)/launch/map.launch"><br><div>     <arg name="room" value="$(arg room)" /><br>     <arg name="env" value="$(arg env)" /><br>

   </include><br>   <br>  <!-- Navigation --> <br>  <group ns="$(arg robot_name)"><br>    <include file="$(find v4r_launch)/launch/amcl.launch"><br>      <arg name="scan" value="$(arg scan)" /><br>

      <arg name="robot_name" default="$(arg robot_name)" /><br>    </include><br>    <include file="$(find v4r_launch)/launch/move_base.launch"><br>      <arg name="scan" value="$(arg scan)" /><br>

      <arg name="robot_name" default="$(arg robot_name)" /><br>    </include><br>  </group><br><br></launch><br><br>---------------- File: $(find v4r_launch)/launch/amcl.launch --------------------<br>

<launch><br><br>  <arg name="robot_name" default="r1" /><br>  <arg name="scan" default="front_laser/scan" /><br>  <br>  <node pkg="amcl" type="amcl" name="amcl" output="screen"><br>

    <remap from="scan" to="$(arg scan)"/>   <br>    <remap from="map" to="/map"/>   <br>    <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_filter.yaml" command="load"/><br>

    <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_laser_model.yaml" command="load"/><br>    <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/><br>

    <param name="odom_frame_id" value="$(arg robot_name)/odom"/>    <br>    <param name="base_frame_id" value="$(arg robot_name)/base_link"/>  <br>    <param name="global_frame_id" value="/map"/>      <br>

  </node><br>  <br><br></launch><br><br><br><br>---------------- File:  $(find v4r_launch)/launch/move_base.launch --------------------<br><launch><br><br>  <arg name="robot_name" default="r1" /><br>

  <arg name="scan" default="front_laser/scan" /><br>  <br>  <node pkg="move_base" type="move_base" name="move_base" output="screen">    <br>    <remap from="scan" to="$(arg scan)"/>     <br>

    <remap from="map" to="/map"/>  <br>    <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="global_costmap" /><br>

    <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="local_costmap" /><br>    <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/global_costmap.yaml" command="load" /><br>

    <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/local_costmap.yaml" command="load" /><br>    <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" /><br>

    <param name="TrajectoryPlannerROS/global_frame_id" value="$(arg robot_name)/odom"/>    <br>    <param name="global_costmap/global_frame" value="map"/>    <br>    <param name="global_costmap/robot_base_frame" value="$(arg robot_name)/base_link"/> <br>

    <param name="global_costmap/obstacle_layer/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/front_laser"/> <br>    <param name="local_costmap/global_frame" value="$(arg robot_name)/odom"/> <br>

    <param name="local_costmap/robot_base_frame" value="$(arg robot_name)/base_link"/> <br>    <param name="local_costmap/obstacle_layer/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/front_laser"/> <br>

  </node><br>  <br></launch><br></div><br><br clear="all"><div><div><br>-- <br><div dir="ltr">Dipl.-Ing. Dr.tech. Markus Bader<br><br>ACIN | AUTOMATION & CONTROL INSTITUTE<br>INSTITUT FÜR AUTOMATISIERUNGS- & REGELUNGSTECHNIK<br>
TECHNISCHE UNIVERSITÄT WIEN<br>Gusshausstrasse 27-29 | 376. 1040 Wien<br>DVR-Nummer: 0005886<br>Tel. +43 (0)1 58801 - 376646<br>Skype: markus.bader.at.work<br>Fax. +43 (0)1 58801 - 37697<br><a href="mailto:markus.bader@tuwien.ac.at" target="_blank">markus.bader@tuwien.ac.at</a> | <a href="http://www.acin.tuwien.ac.at" target="_blank">www.acin.tuwien.ac.at</a></div>

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