amcl_demo.launch

<launch>
  <!-- Map server-->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(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="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">
    <arg name="initial_pose_x" value="$(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 turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
</launch>