<launch>

  <param name="/use_sim_time" value="true"/>

  <arg name="map_file" default="$(find mapupdate)/maps/world.yaml"/>
<node pkg="tf" type="static_transform_publisher" name="world_to_map"
    args="9.5 5 0 0 0 0 /world /map 40" />


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

<node pkg="mapupdate" type="Detectchange" name="Detectchange" output="screen"/>

</launch>