robot-1.launch_RViz-Gazebo_11Oct31

<launch>
 <group ns = "crowd1">
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />

  <node name="spawn_turtlebot_model" pkg="gazebo" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model turtlebot-1 -x 1" respawn="false" output="screen" />

  <node pkg="drive_base_tutorial" name="agent1" type="driveBase_multipleRobots" output="screen" respawn="true">
   <remap from="crowd1/crowd1/turtlebot_node/cmd_vel" to="turtlebot_node/cmd_vel"/>
  </node>

  <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
    <rosparam command="load" file="$(find turtlebot_bringup)/config/diagnostics.yaml" />
  </node>
  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <!-- The odometry estimator -->
  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <param name="freq" value="10.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <remap from="imu_data" to="imu/data"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
    <param name="max_rate" value="20.0"/>
    <remap from="cloud_in" to="/kinect_camera/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- Fake Laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
    <param name="output_frame_id" value="/kinect_depth_frame"/>
    <remap from="cloud" to="/cloud_throttled"/>
  </node>

 </group>
</launch>