JAUS_move_base_outdoor.launch

<launch>
  <node pkg="JAUS_move_base_simple" type="JAUS_move_base_simple.py" name="IGVC_move_base" output="screen" respawn="true" >
      <param name="max_speed"                   value="1.5"/>
      <param name="max_speed_at_max_turn_rate"  value="0.5"/>
      <param name="max_acceleration"    value="1.5"/>
      <param name="distance_epsilon"    value="0.4"/>

      <!-- max_turn_rate , unit degree/s -->
      <param name="max_turn_rate"       value="90"/>
      
      <!-- angle_error_treshold , unit degree/s -->
      <!-- If the angle_error is bigger then this, turn at max turn rate, use the speed at max_speed_at_max_turn_rate  -->
      <param name="angle_error_treshold"    value="60"/>
      
      <remap from="cmd_vel"   to="qsNode/cmd_vel"/>
      <remap from="odom"      to="JAUS_Odom"/>    
  </node>
  
  
  <node pkg="JAUS_Odom" type="JAUS_Odom.py" name="JAUS_Odom" respawn="true" output="screen" >
    <remap from="gps_odom"   to="gpsOdom"/>
    <remap from="husky_odom" to="qsNode/odom"/>
    <remap from="imu/data"   to="imu/data"/>
  </node>
  
 </launch>