amcl_hector_nav.launch

<?xml version="1.0"?>

<launch>
  <include file="$(find bringup)/launch/common.launch"/>  

  <!-- Run the map server --> 
  <node name="map_server" pkg="map_server" type="map_server" args="/home/pi/edukit_bot_ws/src/hall_map.yaml"/>


  <remap from="scanmatch_odom" to="odom"/>
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <remap from="map" to="unused_map"/>
    <remap from="map_metadata" to="unused_map_metadata"/>
    <param name="map_update_angle_thresh" value="12.566"/>
    <param name="map_frame" value="odom"/>
    <param name="odom_frame" value="base_link"/>
    <param name="pub_map_scanmatch_transform" value="false"/>
    <param name="pub_odometry" value="true"/>
    <param name="pub_map_odom_transform" value="true"/>
    <param name="laser_max_dist" value="4"/>
  </node>

  <!--- Run AMCL -->
  <include file="$(find bringup)/launch/amcl_diff.launch"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find bringup)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find bringup)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find bringup)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find bringup)/launch/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find bringup)/launch/base_local_planner_params.yaml" command="load" />
  </node>
  
<!--  <node pkg="explore_lite" type="explore" name="explore" output="screen">
    <param name="visualize" value="true"/>
    <param name="costmap_topic" value="move_base/global_costmap/costmap"/>
    <param name="costmap_updates_topic" value="move_base/global_costmap/costmap_updates"/>
    <param name="min_frontier_size" value="0.05"/>
  </node>
 -->
</launch>