Exercise 4.5 solution yaml file doesnt exist in the launch

I was checking the solution for exercise 4.5 , something confuse me. below there is the launch file given in the solution page

<?xml version="1.0"?>

  <!-- Run the map server -->
  <arg name="map_file" default="$(find husky_navigation)/maps/my_map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!--- Run AMCL -->
  <include file="$(find husky_navigation)/launch/amcl.launch" />

  <arg name="no_static_map" default="false"/>

  <arg name="base_global_planner" default="navfn/NavfnROS"/>
  <arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/>
  <!-- <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <param name="base_global_planner" value="$(arg base_global_planner)"/>
    <param name="base_local_planner" value="$(arg base_local_planner)"/>  
    <rosparam file="$(find husky_navigation)/config/planner.yaml" command="load"/>

    <!-- observation sources located in costmap_common.yaml -->
    <rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />

    <!-- local costmap, needs size -->
    <rosparam file="$(find husky_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
    <param name="local_costmap/width" value="10.0"/>
    <param name="local_costmap/height" value="10.0"/>

    <!-- static global costmap, static map provides size -->
    <rosparam file="$(find husky_navigation)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>
    <!-- global costmap with laser, for odom_navigation_demo -->
    <rosparam file="$(find husky_navigation)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
    <param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
    <param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>


Nowhere in the solution the parameters file “my_move_base_params.yaml” ,which also part of solution, was referred.
shouldnt there be something like

<rosparam file="$(find my_move_base_launcher)/params/my_move_base_params.yaml" command="load" />

Hello @erdemersan,

In the exercise instructions (letter e) it indicated to look at the planner.yaml file of the husky_navigation package. Then (letter f) it indicates to copy the contents of the planner.yaml file to your file my_move_base_params.yaml.

The husky_navigation package is from the previous unit, so you have to go back to unit 3 - Robot Localization.

Then do a roscd husky_navigation to move to the said package.
You will find the planner.yamlfile inside the config folder.

Hope this helps,


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