<?xml version="1.0"?>
<launch>
  <!--- Run AMCL -->
 <node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="use_map_topic" value="true"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>

  <!-- Define your move_base node -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find husky_navigation)/conf/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find husky_navigation)/conf/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find husky_navigation)/conf/local_costmap_params.yaml"  command="load" />
    <rosparam file="$(find husky_navigation)/conf/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find husky_navigation)/conf/base_local_planner_params.yaml" command="load" />

    <remap from="map" to="/map" />
  </node>
</launch>





  <!-- Define your move_base node
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find husky_navigation)/conf/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find husky_navigation)/conf/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find husky_navigation)/conf/local_costmap_params.yaml"  command="load" />
    <rosparam file="$(find husky_navigation)/conf/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find husky_navigation)/conf/base_local_planner_params.yaml" command="load" />

    <remap from="map" to="/map" />
  </node> -->