The next node we need to configure is move_base. Along with the move_base node, we need to configure the global and the local planners, and also the global and the local cost maps. We will first look at the launch file to load all these configuration files. The following launch file chefbot_bringup/launch/includes/move_base.launch.xml will load all the parameters of move_base, planners, and costmaps:

<launch> 
  <arg name="odom_topic" default="odom" />  
<!-- Starting move_base node --> 
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> 
 
<!-- common parameters of global costmap --> 
    <rosparam file="$(find chefbot_bringup)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
 
<!-- common parameters of local costmap --> 
    <rosparam file="$(find chefbot_bringup)/param/costmap_common_params.yaml" command="load" ns="local_costmap" /> 
 
<!-- local cost map parameters -->  
    <rosparam file="$(find chefbot_bringup)/param/local_costmap_params.yaml" command="load" /> 
 
<!-- global cost map parameters --> 
    <rosparam file="$(find chefbot_bringup)/param/global_costmap_params.yaml" command="load" /> 
 
<!-- base local planner parameters --> 
    <rosparam file="$(find chefbot_bringup)/param/base_local_planner_params.yaml" command="load" /> 
 
<!-- dwa local planner parameters --> 
    <rosparam file="$(find chefbot_bringup)/param/dwa_local_planner_params.yaml" command="load" /> 
 
<!-- move_base node parameters --> 
    <rosparam file="$(find chefbot_bringup)/param/move_base_params.yaml" command="load" /> 
 
    <remap from="cmd_vel" to="/cmd_vel_mux/input/navi"/> 
    <remap from="odom" to="$(arg odom_topic)"/> 
  </node> 
</launch> 

We will now take a look at each configuration file and its parameters.