amcl_demo.launch

<?xml version="1.0"?>
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\file      amcl_demo.launch
\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>, Prasenjit Mukherjee <pmukherj@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.

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<launch>

  <!-- Run the map server -->
  <arg name="map_file" default="$(find husky_navigation)/maps/playpen_map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
  <arg name="scan_topic" default="$(eval optenv('HUSKY_LASER_TOPIC', 'front/scan'))" />

  <!--- Run AMCL -->
  <include file="$(find husky_navigation)/launch/amcl.launch">
    <arg name="scan_topic" value="$(arg scan_topic)" />
  </include>

  <!--- Run Move Base -->
  <include file="$(find husky_navigation)/launch/move_base.launch" />

</launch>