<launch>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find MPC)/maps/blank_map.yaml"/>
  <node pkg="MPC" type="MPC_node" name="MPC_node" output="screen"/>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find MPC)/launch/default.rviz" />

  <node pkg="turtlesim" name="sim" type="turtlesim_node"/>


</launch>
