<commit_before><?xml version="1.0"?>

<launch>
  <arg name="map_file" default="$(find icart_mini_navigation)/maps/mymap.yaml"/>

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

  <include file="$(find icart_mini_navigation)/launch/move_base.launch">
    <arg name="odom_topic" value="icart_mini/odom"/>
    <arg name="cmd_vel" value="icart_mini/cmd_vel"/>
  </include>

  <include file="$(find icart_mini_navigation)/launch/localization.launch"/>
  <!--node pkg="tf" type="static_transform_publisher" name="odom_2_base_footprint" args="0 0 0 0 0 0 /odom /base_footprint 100"/-->

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find icart_mini_navigation)/rviz_cfg/nav.rviz"/>

  <!--node pkg="yocs_waypoints_navi" type="yocs_waypoints_navi_node" name="waypoints_navi" output="screen">
    <param name="frequency"    value="5.0"/>
    <param name="close_enough" value="0.2"/><commit_msg>Modified to use the odometry of combine_dr_measurements<commit_after><?xml version="1.0"?>

<launch>
  <arg name="map_file" default="$(find icart_mini_navigation)/maps/mymap.yaml"/>

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

  <include file="$(find icart_mini_navigation)/launch/move_base.launch">
    <arg name="odom_topic" value="combined_odom"/>
    <arg name="cmd_vel" value="icart_mini/cmd_vel"/>
  </include>

  <include file="$(find icart_mini_navigation)/launch/localization.launch"/>
  <!--node pkg="tf" type="static_transform_publisher" name="odom_2_base_footprint" args="0 0 0 0 0 0 /odom /base_footprint 100"/-->

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find icart_mini_navigation)/rviz_cfg/nav.rviz"/>

  <!--node pkg="yocs_waypoints_navi" type="yocs_waypoints_navi_node" name="waypoints_navi" output="screen">
    <param name="frequency"    value="5.0"/>
    <param name="close_enough" value="0.2"/>
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{'dir': 'git-commits-cleaned', 'id': '3074556', 'n_tokens_mistral': 741, 'n_tokens_neox': 660, 'n_words': 119}