<launch>
  <remap from="scan" to="qt_pi/scan"/>
  <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
  <remap from="odom" to="qt_pi/odom"/>
  <include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    <param name="footprint_padding" value="0.01"/>
    <param name="controller_frequency" value="10.0"/>
    <param name="controller_patience" value="3.0"/>

    <param name="oscillation_timeout" value="30.0"/>
    <param name="oscillation_distance" value="0.5"/>

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

  </node>
</launch>