<arg name="room" value="$(arg room)" />
<arg name="env" value="$(arg env)" />
</include>
<!-- Navigation -->
<group ns="$(arg robot_name)">
<include file="$(find v4r_launch)/launch/amcl.launch">
<arg name="scan" value="$(arg scan)" />
<arg name="robot_name" default="$(arg robot_name)" />
</include>
<include file="$(find v4r_launch)/launch/move_base.launch">
<arg name="scan" value="$(arg scan)" />
<arg name="robot_name" default="$(arg robot_name)" />
</include>
</group>
</launch>
---------------- File: $(find v4r_launch)/launch/amcl.launch --------------------
<launch>
<arg name="robot_name" default="r1" />
<arg name="scan" default="front_laser/scan" />
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<remap from="scan" to="$(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="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/>
<param name="odom_frame_id" value="$(arg robot_name)/odom"/>
<param name="base_frame_id" value="$(arg robot_name)/base_link"/>
<param name="global_frame_id" value="/map"/>
</node>
</launch>
---------------- File: $(find v4r_launch)/launch/move_base.launch --------------------
<launch>
<arg name="robot_name" default="r1" />
<arg name="scan" default="front_laser/scan" />
<node pkg="move_base" type="move_base" name="move_base" output="screen">
<remap from="scan" to="$(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="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" />
<param name="TrajectoryPlannerROS/global_frame_id" value="$(arg robot_name)/odom"/>
<param name="global_costmap/global_frame" value="map"/>
<param name="global_costmap/robot_base_frame" value="$(arg robot_name)/base_link"/>
<param name="global_costmap/obstacle_layer/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/front_laser"/>
<param name="local_costmap/global_frame" value="$(arg robot_name)/odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg robot_name)/base_link"/>
<param name="local_costmap/obstacle_layer/laser_scan_sensor/sensor_frame" value="$(arg robot_name)/front_laser"/>
</node>
</launch>