<launch>

  <arg name="map_yaml" />

  <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
  <param name="/stretch_driver/mode" type="string" value="navigation" />
  <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>

  <include file="$(find stretch_core)/launch/rplidar.launch" />

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_yaml)" />

  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find stretch_navigation)/config/common_costmap_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find stretch_navigation)/config/common_costmap_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find stretch_navigation)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find stretch_navigation)/config/global_costmap_params_withmap.yaml" command="load" />
    <rosparam file="$(find stretch_navigation)/config/base_local_planner_params.yaml" command="load" />
    <remap from="/cmd_vel" to="/stretch/cmd_vel" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/navigation.rviz" />

</launch>
