p3dx_2dnav.launch

<?xml version="1.0"?>

<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" 
     value="$(find p3dx_2dnav)/config/custom_rosconsole.conf"/>
  <!--MAP SERVER-->
  <arg name="map_yaml" default="$(find p3dx_2dnav)/maps/willowgarage/willowgarage-refined.yaml" />
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_yaml)" />

  <!--AMCL and GAZEBO-->
  <arg name="init_x" default="-11" />
  <arg name="init_y" default="8.4" />
  <arg name="init_a" default="0" />
  <!--AMCL-->
  <arg name="scan_topic" default="/p3dx/laser/scan"/>
  <node name="amcl" pkg="amcl" type="amcl" args="">
    <remap from="scan" to="$(arg scan_topic)" />
    <param name="initial_pose_x" type="double" value="$(arg init_x )" />
    <param name="initial_pose_y" type="double" value="$(arg init_y )" />
    <param name="initial_pose_a" type="double" value="$(arg init_a )" />
    <param name="initial_cov_xx" type="double" value="0.01" />
    <param name="initial_cov_yy" type="double" value="0.01" />
    <param name="initial_cov_aa" type="double" value="0.01" />
  </node>

  <!--P3DX in GAZEBO-->
  <include file="$(find p3dx_gazebo)/launch/gazebo.launch">
    <arg name="gui" value="false"/>
    <arg name="init_x" value="$(arg init_x )"/>
    <arg name="init_y" value="$(arg init_y )"/>
    <arg name="init_a" value="$(arg init_a )"/>
  </include>

  <!--MOVE BASE for COSTMAP-->
  <arg name="cmd_ns" default="p3dx" />
  <include file="$(find p3dx_2dnav)/launch/move_base.launch">
    <arg name="cmd_vel" value="/$(arg cmd_ns)/cmd_vel"/>
  </include>

  <!--RVIZ-->
  <include file="$(find p3dx_description)/launch/rviz.launch">
    <arg name="rviz_node_args" value="-d $(find p3dx_2dnav)/config/p3dx_2dnav.rviz"/>
  </include> 

  <!--rqt plotting-->
  <include file="$(find p3dx_2dnav)/launch/rqt_plot.launch">
    <arg name="ref_ns" value="$(arg cmd_ns)"/>
  </include>
</launch>