3 <!-- Run the map server -->
4 <node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
7 <include file="$(find amcl)/examples/amcl_diff.launch" />
9 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
10 <param name="controller_frequency" value="10.0" />
11 <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
12 <rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
13 <rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
14 <rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
15 <rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
18 <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
19 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />