From 5febd6d4f01c333ba0dc1d909b102afdd47489fd Mon Sep 17 00:00:00 2001
From: MikeS96 <miguel.saaruiz@gmail.com>
Date: Tue, 14 Jul 2020 11:59:30 -0500
Subject: [PATCH] Setted up launch file for AMCL and map server node

---
 .../where_am_i/my_robot/launch/amcl.launch    | 21 +++++++++++++++++++
 .../my_robot/{src => }/maps/map.yaml          |  0
 2 files changed, 21 insertions(+)
 create mode 100644 localization/where_am_i/my_robot/launch/amcl.launch
 rename localization/where_am_i/my_robot/{src => }/maps/map.yaml (100%)

diff --git a/localization/where_am_i/my_robot/launch/amcl.launch b/localization/where_am_i/my_robot/launch/amcl.launch
new file mode 100644
index 0000000..bb5f018
--- /dev/null
+++ b/localization/where_am_i/my_robot/launch/amcl.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+	<!-- Map Server -->
+	<arg name="map_file" default="$(find my_robot)/maps/map.yaml"/>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
+	
+	<!-- AMCL Node -->
+	<node name="amcl" pkg="amcl" type="amcl" output="screen">
+		<param name="odom_frame_id" value="odom"/>
+		<param name="odom_model_type" value="diff-corrected"/>
+		<param name="base_frame_id" value="robot_footprint"/>
+		<param name="global_frame_id" value="map"/>
+		
+		<!-- If you choose to define initial pose here -->
+		<param name="initial_pose_x" value="0.6"/>
+		<param name="initial_pose_y" value="-5.5"/>
+	</node>
+
+</launch>
diff --git a/localization/where_am_i/my_robot/src/maps/map.yaml b/localization/where_am_i/my_robot/maps/map.yaml
similarity index 100%
rename from localization/where_am_i/my_robot/src/maps/map.yaml
rename to localization/where_am_i/my_robot/maps/map.yaml