From 481e2c83b5008b88d71ab59dc053f08886293f43 Mon Sep 17 00:00:00 2001
From: Garrett Warnell <warnellg@cs.utexas.edu>
Date: Tue, 8 Aug 2017 14:30:58 -0500
Subject: [PATCH] switched back to

---
 .../libsegbot_logical_translator/segbot_logical_translator.cpp  | 2 +-
 segbot_navigation/launch/move_base_eband.launch                 | 1 +
 segbot_navigation/src/move_base_interruptable_server.cpp        | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp b/segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp
index c78e7ab0..35960d4a 100644
--- a/segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp
+++ b/segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp
@@ -167,7 +167,7 @@ namespace segbot_logical_translator {
 
     if (!make_plan_client_initialized_) {
       ROS_INFO_STREAM("SegbotLogicalTranslator: Waiting for make_plan service..");
-      make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
+      make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
       make_plan_client_.waitForExistence();
       ROS_INFO_STREAM("SegbotLogicalTranslator: make_plan service found!");
       make_plan_client_initialized_ = true;
diff --git a/segbot_navigation/launch/move_base_eband.launch b/segbot_navigation/launch/move_base_eband.launch
index d97bcbf3..20786f4d 100644
--- a/segbot_navigation/launch/move_base_eband.launch
+++ b/segbot_navigation/launch/move_base_eband.launch
@@ -21,6 +21,7 @@
     <rosparam file="$(find segbot_navigation)/config/$(arg config)/eband_planner_params.yaml" command="load"/>
     
     <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
+    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
 
     <param name="global_costmap/map_topic" value="$(arg map_topic)"/>
 
diff --git a/segbot_navigation/src/move_base_interruptable_server.cpp b/segbot_navigation/src/move_base_interruptable_server.cpp
index 2e9e9837..0b2d3b1f 100644
--- a/segbot_navigation/src/move_base_interruptable_server.cpp
+++ b/segbot_navigation/src/move_base_interruptable_server.cpp
@@ -56,7 +56,7 @@ int main(int argc, char *argv[]) {
   clear_costmap_service_->waitForExistence();
 
   make_plan_service_.reset(new ros::ServiceClient);
-  *make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
+  *make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
   make_plan_service_->waitForExistence();
 
   ROS_INFO_STREAM("move_base_interruptable :   Navigation services found!");