<launch>

  <param name="use_sim_time" value="false" />

  <!-- Set the name of the map yaml file: can be overridden on the command line. -->
  <arg name="map" default="/home/zx/Downloads/map.yaml" />

  <!-- Run the map server with the desired map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/$(arg map)"/>

  <!-- The move_base node -->
  <include file="$(find rbx1_nav)/launch/fake_move_base_amcl.launch" />
	
	<include file="$(find amcl)/examples/amcl_omni.launch" />
  
  <!-- Run fake localization compatible with AMCL output -->
  <node pkg="fake_localization" type="fake_localization" name="fake_localization" clear_params="true" output="screen">
     <remap from="base_pose_ground_truth" to="odom" />
     <param name="global_frame_id" value="map" />
     <param name="base_frame_id" value="base_link" />
  </node>

</launch>
