- <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
- <param name="amcl/base_frame_id" value="base_footprint" />
+ <group unless="$(arg nomap)">
+ <!-- Run the map server -->
+ <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen" unless="$(arg slam_gmapping)" />
+
+ <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
+ <param name="amcl/base_frame_id" value="base_footprint" />
+ </group>