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<launch>
<node name="plan_node" pkg="dwb_local_planner" type="planner_node" output="screen">
<rosparam ns="costmap">
wait_for_transform: false
pose_update_frequency: -1.0
update_frequency: -1.0
origin_x: -5.0
origin_y: -5.0
global_frame: /odom
</rosparam>
<rosparam ns="dwb_local_planner">
</rosparam>
</node>
</launch>
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