- <node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" output="screen" if="$(arg slam_gmapping)">
- <param name="scan" value="scan" />
- <param name="delta" value="0.01" />
- <param name="map_update_interval" value="30" />
- <param name="linearUpdate" value="0.5" />
- <param name="angularUpdate" value="0.25" />
- <param name="xmin" value="-1.0"/>
- <param name="ymin" value="-1.0"/>
- <param name="xmax" value="1.0"/>
- <param name="ymax" value="1.0"/>
- <param name="odom_frame" value="odom"/>
- </node>
+ <include file="$(find amcl)/examples/amcl_diff.launch" unless="$(arg slam_gmapping)" />
+ <param name="amcl/base_frame_id" value="base_footprint" />
+ </group>
+
+ <include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />