move_base.launch deprecated?

asked 2013-09-30 00:31:27 -0500

kr1zz

116 ●3 ●4 ●11 https://www.linkedin.c...

updated 2013-10-01 03:15:54 -0500

felix k

1650 ●14 ●36 ●49

Is move_base deprecated? If yes, what is the replacement?

when I do

$ roslaunch move_base move_base.launch

I get a lot of warnings like this:

[WARN] [WallTime: 1380536892.711000] You are launching the move_base_0.3_to_0.2.launch file which allows for a deprecated interface to move_base to be used. Please update your code and remove this launch file as soon as possible

answered 2013-09-30 00:56:27 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

That launch file is deprecated (as of 4 years ago! the navigation stack is now version 1.11, and that file was introduced when transitioning from 0.2 to 0.3)

Most people create a configuration for their specific robot, since there are a lot of parameters that can be tuned and tweaked for a specific robot. For a number of examples see: http://wiki.ros.org/navigation/RobotsUsingNavStack

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Thank you. However I see that there are still many examples on the wiki that suggest the use of move_base, for example here: http://wiki.ros.org/navigation/Tutorials/RobotSetup Maybe - I guess - I can ask more useful questions... :P

kr1zz ( 2013-10-02 03:05:07 -0500 )edit

Maybe - I guess - I can ask more useful questions... :P

kr1zz ( 2013-10-02 03:05:37 -0500 )edit

Yes, they are using move_base, but not that launch file. move_base is fully supported, that launch file is not really what you want, because it just remaps the old topic names/types to what is currently in move_base.