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

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

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

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

  <include file="$(find orne_navigation_executor)/launch/localization_beta.launch"/>

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find orne_navigation_executor)/rviz_cfg/nav.rviz"/>
  
</launch>
<commit_msg>beta用のlaunchも書き換えた<commit_after><?xml version="1.0"?>

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

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file).yaml"/>
  <node name="map_server_for_costmap" pkg="map_server" type="map_server" args="$(arg map_file)_for_costmap.yaml">
    <remap from="/map" to="/map_for_costmap"/>
    <param name="frame_id" value="/map_for_costmap"/>
  </node>

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

  <include file="$(find orne_navigation_executor)/launch/localization_beta.launch"/>

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

</launch>

{'fraction_non_alphanumeric': 0.17956656346749225, 'fraction_numerical': 0.002476780185758514, 'mean_word_length': 6.622641509433962, 'pattern_counts': {'":': 0, '<': 30, '<?xml version=': 2, '>': 30, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4890115', 'n_tokens_mistral': 616, 'n_tokens_neox': 574, 'n_words': 85}