<launch>
	<node name="map_server" pkg="map_server" type="map_server" args="$(find pkgname)/launch/map_1cm.yaml"/>
  <node pkg="pkgname" type="pkgname_node" name="pkgname_node" output="screen"/>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pkgname)/launch/default.rviz" />
</launch>
