<commit_before><launch>
  <include file="$(find fifth_robot_description)/launch/navigation/amcl_diff_gazebo.launch" />
 
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <remap from="/cmd_vel" to="/fifth_robot/diff_drive_controller/cmd_vel" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/move_base_params.yaml" command="load" />
    
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find fifth_robot_description)/config/navigation/planner/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/planner/base_global_planner_params.yaml" command="load" />
  </node>
</launch><commit_msg>Remap odom topic on move_base<commit_after><launch>
  <include file="$(find fifth_robot_description)/launch/navigation/amcl_diff_gazebo.launch" />
 
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <remap from="/cmd_vel" to="/fifth_robot/diff_drive_controller/cmd_vel" />
    <remap from="/odom" to="/fifth_robot/diff_drive_controller/odom" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/move_base_params.yaml" command="load" />
    
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/costmap/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find fifth_robot_description)/config/navigation/planner/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find fifth_robot_description)/config/navigation/planner/base_global_planner_params.yaml" command="load" />
  </node>
</launch>
{'fraction_non_alphanumeric': 0.14481946624803768, 'fraction_numerical': 0.0, 'mean_word_length': 6.867283950617284, 'pattern_counts': {'":': 0, '<': 30, '<?xml version=': 0, '>': 30, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4827925', 'n_tokens_mistral': 842, 'n_tokens_neox': 805, 'n_words': 96}