<launch>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/blank_map.yaml"/>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
	<rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find rbx1_nav)/config/fake/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find rbx1_nav)/config/fake/global_costmap_params.yaml" command="load" />
  	<rosparam file="$(find rbx1_nav)/config/fake/base_local_planner_params.yaml" command="load" />
  </node>
  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 base_link laser 100" />

  <node pkg="tf" type="static_transform_publisher" name="broadcaster2" args="0 0 0 0 0 0 1 map odom 100" />

  
	


</launch>
