tutorial3.launch

<launch>

	<!-- Some general parameters -->
	<param name="use_sim_time" value="true" />
	<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

	<!-- Start Stage simulator with a given environment -->
	<node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial.world">
		<param name="base_watchdog_timeout" value="0" />
	</node>

	<!-- Start the Operator to control the simulated robot -->
	<node name="Operator" pkg="nav2d_operator" type="operator" >
		<remap from="scan" to="base_scan"/>
		<rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
		<rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
	</node>

	<!-- Start Mapper to genreate map from laser scans -->
	<node name="Mapper" pkg="nav2d_karto" type="mapper">
		<remap from="scan" to="base_scan"/>
		<rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
	</node>

	<!-- Start the Navigator to move the robot autonomously -->
	<node name="Navigator" pkg="nav2d_navigator" type="navigator">
		<rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
	</node>

	<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
	<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
	<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

	<!-- Start the joystick-driver and remote-controller for operation-->
	<node name="Joystick" pkg="joy" type="joy_node" />
	<node name="Remote" pkg="nav2d_remote" type="remote_joy" >
		<rosparam file="$(find nav2d_tutorials)/param/remote.yaml"/>
	</node>

	<!-- RVIZ to view the visualization -->
	<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch>