navigation.launch

<launch>
 
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="move_forward_only" default="false"/>
 
 
  <arg name="initial_pose_x" default="-2.0"/>
  <arg name="initial_pose_y" default="-0.5"/>
  <arg name="initial_pose_a" default="0.0"/>
 
  <param name="/use_sim_time" value="true"/>
 
  <!--  ****** Maps *****  -->
  <arg name="map_file" default="$(find hello_ros)/maps/map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
 
  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)" />
    <arg name="initial_pose_y" value="$(arg initial_pose_y)" />
    <arg name="initial_pose_a" value="$(arg initial_pose_a)" />
  </include>
 
   <!--  ************** Navigation  ***************  -->
  <include file="$(find hello_ros)/launch/move_base.launch.xml">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</launch>