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  1. <launch>
  2.     <node name="map_server" pkg="map_server" type="map_server" args="$(find some_package)/realmap.yaml"/>
  3.  
  4.     <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="2.2 -1.1 0 1.51 0 0 /map /base_link 100"/>
  5.     <node name="static_tf1" pkg="tf" type="static_transform_publisher" args=".2 0 .2 0 0 0 /base_link /base_laser_link 100"/>
  6.  
  7.   <node pkg="move_base" type="move_base" name="move_base_node" output="screen">
  8.     <remap from="odom" to="base_odometry/odom" />
  9.     <remap from="cmd_vel" to="navigation/cmd_vel" />
  10.  
  11.     <!-- Use the dwa local planner for the PR2 -->
  12.     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
  13.     <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/>
  14.   </node>
  15.  
  16. </launch>
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