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navigation_stage: changes for tf_prefix
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wjwwood committed Aug 13, 2013
1 parent efcceee commit a9fd461
Showing 1 changed file with 6 additions and 2 deletions.
8 changes: 6 additions & 2 deletions navigation_stage/launch/move_base_multi_robot.launch
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,9 @@
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
</node>

<node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
<node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false" output="screen">
<param name="odom_frame_id" value="robot_0/odom" />
<param name="base_frame_id" value="robot_0/base_link" />
</node>
</group>
<!-- END ROBOT 0 -->
Expand All @@ -44,10 +46,12 @@
</node>

<node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
<param name="odom_frame_id" value="robot_1/odom" />
<param name="base_frame_id" value="robot_1/base_link" />
</node>
</group>
<!-- END ROBOT 1 -->

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/multi_robot.vcg" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/multi_robot.rviz" />

</launch>

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