amcl_demo.launch

<?xml version="1.0"?>

<launch>
  <!-- Arguments -->
  <arg name="map_file" default="$(find diffbot_navigation)/maps/map.yaml"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>
  <arg name="local_planner" default="dwa" doc="Local planner can be either dwa, base, teb or pose"/>

  <!-- DiffBot Remote Steering TODO -->
  <!--include file="$(find diffbot_bringup)/launch/diffbot_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include-->

  <!-- Map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <include file="$(find diffbot_navigation)/launch/amcl.launch">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
  <include file="$(find diffbot_mbf)/launch/includes/move_base.launch.xml">
    <arg name="local_planner" value="$(arg local_planner)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find diffbot_mbf)/rviz/diffbot_mbf.rviz"/>
  </group>
</launch>