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

    <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="2.2 -1.1 0 1.51 0 0 /map /base_link 100"/>
    <node name="static_tf1" pkg="tf" type="static_transform_publisher" args=".2 0 .2 0 0 0 /base_link /base_laser_link 100"/>

  <node pkg="move_base" type="move_base" name="move_base_node" output="screen">
    <remap from="odom" to="base_odometry/odom" />
    <remap from="cmd_vel" to="navigation/cmd_vel" />

    <!-- Use the dwa local planner for the PR2 -->
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/>
  </node>

</launch>