<launch>
  <master auto="start"/>
  <remap from="scan" to="qt_pi/scan"/>
  <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
  <remap from="odom" to="qt_pi/odom"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/playground.yaml"/>

  <node name="amcl" pkg="amcl" type="amcl">

    <param name="base_frame_id" value="qt_pi/base_link" type="string"/>
    <param name="odom_frame_id" value="qt_pi/odom" type="string"/>
    <param name="odom_model_type" value="diff" type="string"/>

  </node>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <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>