<launch>
  <!-- Launch move_base and load all navigation parameters -->
  <include file="$(find rbx1_nav)/launch/tb_move_base.launch" />
  
  <!-- Run the map server with a blank map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/blank_map.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>
