nav.launch

<launch>
  <!--Python Script-->>
  <node name="goal_sequence" pkg="ebot_nav" type="goal_sequence.py" output="screen"/>
  

    <!--including the launch file with a navigation world-->
    <!-- <include file="$(find ebot_gazebo)/launch/office_world.launch" /> -->
    <!-- including launch file for localization using AMCL -->
    <include file="$(find ebot_nav)/launch/amcl.launch" />
     <!-- including launch file for visualizing in rviz -->
    <include file="$(find ebot_description)/launch/ebot_visualize.launch"/>
        

        <!-- Spawn the robot model -->
    <!-- <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
        args="-urdf -param robot_description -model ebot -x $(arg x) -y $(arg y) -z $(arg z)" /> -->
    
    <!--Map Server-->
    <arg name = "map_file" value = "$(find ebot_nav)/maps/sample_world.yaml"/>
    <node pkg="map_server" type="map_server" args = "$(arg map_file)" name="map_server" output="screen"/>

    <!--Place Map frame at Odometry frame-->
    <!-- <node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" args="0 0 0 0 0 0 map odom 100"/> -->
   

      <!-- Move base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> 
    <rosparam file="$(find ebot_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find ebot_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find ebot_nav)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find ebot_nav)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find ebot_nav)/config/base_local_planner_params.yaml" command="load" /> 
    <rosparam file="$(find ebot_nav)/config/dwa_local_planner_params.yaml" command="load" />   
    <rosparam file="$(find ebot_nav)/config/move_base_params.yaml" command="load" />
    <!-- <rosparam file="$(find ebot_nav)/config/navfn_global_planner_params.yaml" command="load" /> -->

    <param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
    <param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>
    <!-- <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> -->
    <!-- <param name="base_global_planner" value="navfn/NavfnROS" /> --> -->

    <remap from="scan" to="ebot/laser/scan" />
    <remap from="cmd_vel" to="cmd_vel"/>
    <remap from="odom" to="odom" />


  </node> 

</launch>