planner.launch

<launch>
    <node name="ped_pomdp" pkg="crowd_pomdp_planner" type="ped_pomdp" respawn="false" output="screen" required="true">
        <rosparam file="$(find crowd_pomdp_planner)/attention_param.yaml" command="load" />
        <param name = "gpu_id" value="$(arg gpu_id)" />
        <param name = "map_location" value="$(arg map_location)" />
        <remap from="pomdp_path_repub" to="new_global_plan"/>
        <remap from="navgoal" to="/move_base_simple/goal"/>
        <!-- <remap from="odom" to="odom"/> -->
        <param name="simulation" value="false"/>
        <param name = "drive_mode" value="$(arg mode)" />
        <param name = "time_scale" value="$(arg time_scale)" />
        <param name = "summit_port" value="$(arg summit_port)" />    
    </node>

    <node name="ped_momdp_local_transform" pkg="crowd_pomdp_planner" type="local_frame"  >
        <param name="global_frame" value="/map"/>
        <param name="threshold" value="0.0"/>
    </node>

    <node name="vel_publisher" pkg="crowd_pomdp_planner" type="vel_publisher" output="screen" >
        <!--<remap from="cmd_vel" to="cmd_vel"/>-->
        <param name = "drive_mode" value="$(arg mode)" />
        <param name = "cmd_mode" value="action" />
        <param name = "time_scale" value="$(arg time_scale)" />
    </node>

</launch>