amcl.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <!-- Map Server -->
  <arg name="map_file" default="$(find my_robot)/maps/map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- AMCL Node -->
  <node name="amcl" pkg="amcl" type="amcl" output="screen">
    <param name="odom_frame_id" value="odom"/>
    <param name="odom_model_type" value="diff-corrected"/>
    <param name="base_frame_id" value="robot_footprint"/>
    <param name="global_frame_id" value="map"/>

    <param name="initial_pose_x" value="0"/>
    <param name="initial_pose_y" value="0"/>
  </node>

  <!-- Move Base -->
  <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
    <param name="base_global_planner" value="navfn/NavfnROS"/>
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>

    <rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/config/base_local_planner_params.yaml" command="load" />
  </node>
</launch>