<launch>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find morse_2dnav)/map.yaml"/>

  <param name="robot_description" command="cat $(find morse_2dnav)/pr2.urdf"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"> 
    <remap from="/joint_states" to="/pr2/pr2_posture" />
  </node>

  <node pkg="amcl" type="amcl" name="amcl">
     <remap from="/scan" to="/pr2/Sick" />
  </node>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
    <remap from="/base_scan" to="/pr2/Sick"/>
    <remap from="/cmd_vel" to="/pr2/Motion_Controller"/>
    <remap from="/odom" to="/pr2/Odometry"/>
    
    <rosparam file="$(find morse_2dnav)/morse_move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/global_costmap_params.yaml" command="load" />
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find morse_2dnav)/morse_move_base/dwa_planner_ros.yaml" command="load" />
  </node>
</launch>
