<launch>
<arg name="scan" value="front_laser/scan" />
<!-- Mapserver -->
<include file="$(find v4r_launch)/launch/map.launch">
<arg name="room" value="gh25" />
<arg name="env" value="sim" />
</include>
<!-- Robot r1 -->
<group ns="r1">
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<remap from="scan" to="$(arg scan)"/>
<remap from="map" to="/map"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_filter.yaml" command="load"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_laser_model.yaml" command="load"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/>
</node>
<node pkg="move_base" type="move_base" name="move_base" output="screen">
<remap from="scan" to="$(arg scan)"/>
<remap from="map" to="/map"/>
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/global_costmap.yaml" command="load" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/local_costmap.yaml" command="load" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" />
</node>
</group>
<!-- Robot r2 -->
<group ns="r2">
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<remap from="scan" to="$(arg scan)"/>
<remap from="map" to="/map"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_filter.yaml" command="load"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_laser_model.yaml" command="load"/>
<rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/>
</node>
<node pkg="move_base" type="move_base" name="move_base" output="screen">
<remap from="scan" to="$(arg scan)"/>
<remap from="map" to="/map"/>
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/global_costmap.yaml" command="load" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/local_costmap.yaml" command="load" />
<rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" />
</node>
</group>
</launch>