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Now I was wondering how to implement the second point in the move_base node of my launcher: <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen"> <remap from="cmd_vel" to="mobile_base/commands/velocity"/> <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find rrt_exploration_tutorials)/param/local_costmap_params.yaml" command="load"/> <rosparam file="$(find rrt_exploration_tutorials)/param/global_costmap_params.yaml" command="load"/> <rosparam file="$(find rrt_exploration_tutorials)/param/base_local_planner_params.yaml" command="load"/>

</node>

Now I was wondering how to implement the second point in the move_base node of my launcher: launcher:

<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
           <param name="footprint_padding" value="0.01" />
    <param name="controller_frequency" value="5.0" />
    <param name="controller_patience" value="3.0" />
    <param name="oscillation_timeout" value="30.0" />
    <param name="oscillation_distance" value="0.5" />
    <param name="planner_patience" value="1" />
    <param name="controller_patience" value="1" /> 
    <remap from="cmd_vel" to="mobile_base/commands/velocity"/>
     <param name="recovery_behavior_enabled" value="false" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="global_costmap"/>
ns="global_costmap" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="local_costmap"/>
ns="local_costmap" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/local_costmap_params.yaml" command="load"/>
command="load" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/global_costmap_params.yaml" command="load"/>
command="load" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/base_local_planner_params.yaml" command="load"/> 
     
     
  </node>
 command="load" />  
    <param name="global_costmap/global_frame" value="$(arg namespace)/map"/>
    <param name="global_costmap/robot_base_frame" value="$(arg namespace)/base_link"/>
    <param name="global_costmap/laser_scan_sensor/sensor_frame" value="/$(arg namespace)/base_laser_link"/>
    <param name="global_costmap/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>    
    <param name="local_costmap/global_frame" value="$(arg namespace)/odom"/>
    <param name="local_costmap/robot_base_frame" value="$(arg namespace)/base_link"/>
    <param name="local_costmap/laser_scan_sensor/sensor_frame" value="$(arg namespace)/front_laser_link"/>
    <param name="local_costmap/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>
    <param name="local_costmap/obstacle_layer/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>
  </node>