ROS-Answers/Navigation/NavLaunch2

<launch>
<!-- This file launches the navigation stack for the Pioneer Robot. -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" launch-prefix="gdb -ex run --args">
    <param name="footprint_padding" value="0.01" />
    <param name="controller_frequency" value="10.0" />
    <param name="controller_patience" value="5.0" />
    <param name="oscillation_timeout" value="8.0" />
    <param name="oscillation_distance" value="0.5" />
    <param name="recovery_behavior_enabled" value="true" type="bool" />
    <param name="clearing_rotation_allowed" value="true" type="bool" />
    <param name="shutdown_costmaps" value="false" type="bool" />
    <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/costmap_common_params_revy1.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/costmap_common_params_revy1.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/local_costmap_params_revy1_staticmap.yaml" command="load" />
    <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/global_costmap_params_revy1_staticmap.yaml" command="load" />
    <rosparam file="$(find tarot_robotcontrol)/launch/nav_params/base_local_planner_params_revy1.yaml" command="load" />
  </node>
</launch>