<launch>

  <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="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" >
    <param name="speed" type="double" value="0.04" />
    <param name="turn" type="double" value="0.1" />
    <remap from="/cmd_vel" to="/stretch/cmd_vel" />
  </node>

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

  <node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" />

</launch>
