+<?xml version="1.0"?>
+<launch>
+ <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
+
+ <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
+ <param name="frequency" type="double" value="1.0"/>
+ <!-- Should be less than sensor range -->
+ <param name="goal_aliasing" type="double" value="2.0"/>
+
+ <rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="explore_costmap" />
+ <rosparam file="$(find wild_thumper)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
+ </node>
+</launch>