<launch>

  <include file="$(find rbx1_nav)/launch/fake_move_base_obstacles.launch" />
  
  <!-- Run the map server with a blank map + obstacle -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/blank_map_with_obstacle.yaml"/>
 
  <!-- Run a static transform between /odom and /map -->
  <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />

</launch>
