default.launch

<launch>
    <node name="stage" pkg="stage_ros" type="stageros" args="$(find mypkg)/data/map.world"/>
    <node name="slam" pkg="gmapping" type="slam_gmapping" args="scan:=base_scan"/>

    <!-- Navigation stack setup -->
    <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
        <rosparam file="$(find mypkg)/launch/costmap_common.yaml" command="load" ns="global_costmap"/>
        <rosparam file="$(find mypkg)/launch/costmap_common.yaml" command="load" ns="local_costmap"/>
        <rosparam file="$(find mypkg)/launch/local_costmap.yaml" command="load"/>
        <rosparam file="$(find mypkg)/launch/global_costmap.yaml" command="load"/>
        <rosparam file="$(find mypkg)/launch/base_local_planner.yaml" command="load"/>
    </node>
</launch>