06. AMCL Launch File: Map Server Node
Map Server Node
The first node is the
map_server
node (
http://wiki.ros.org/map_server)
. The
map_server
node provides map data as a ROS service to other nodes such as the
amcl
node. Here,
map_server
node will locate the map you created in the
Map Setup
step and send it out as the map data.
First, add an argument of the path to your map file so that you could easily change the map loaded and avoid typing long paths again:
<arg name="map_file" default="$(find <YOUR PACKAGE NAME>)/maps/<YOUR MAP NAME>.yaml"/>
Then, add the
map_server
node, which utilizes the argument you created just now:
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
Your
amcl.launch
file should look like this now:
<launch>
<!-- Map Server -->
<arg name="map_file" ... />
<node name="map_server" ... />
</launch>
Nice, we have the
map_server
node set up. Let's move on to the
amcl
node.