navigator.launch

<launch>
  <arg name="location_list_topic"/>
  <arg name="navigator_action"/>

  <arg name="simulation"              default="false"/>
  <arg name="start_move_base"         default="true"/>
  <arg name="cmd_vel_mux_input"       default="/cmd_vel_mux/input/navi"/>
  <arg name="move_base_topic"         default="move_base"/>
  <arg name="odom_topic"              default="/odom"/>
  <arg name="map_topic"               default="map"/>
  <arg name="robot_cmd_feed"          default="/mobile_base/commands/velocity"/>
  <arg name="global_frame"            default="map"/>
  <arg name="odom_frame"              default="odom"/>
  <arg name="base_frame"              default="base_footprint"/>
  <arg name="move_base_param_path"    default="$(find turtlebot_navigation)/param"/>
  <arg name="custom_param_file"       default="$(find turtlebot_navigation)/param/dummy.yaml"/>
  <arg name="vel_smoother_param"      default="$(find yocs_velocity_smoother)/param/standalone.yaml"/>

  <!-- Semantic Navigator -->
  <node pkg="yocs_navigator" name="semantic_navigator" type="yocs_semantic_navigator_node">
    <remap from="odom"        to="$(arg odom_topic)"/>
    <remap from="waypointlist"   to="$(arg location_list_topic)"/>
    <remap from="navigator" to="$(arg navigator_action)"/>
    <remap from="cmd_vel"     to="$(arg cmd_vel_mux_input)"/>
  </node>

  <!-- move base -->
  <include if="$(arg start_move_base)" file="$(find yocs_navigator)/launch/move_base_with_vel_smoother.launch">
    <arg name="simulation"            value="$(arg simulation)"/>
    <arg name="cmd_vel_mux_input"     value="$(arg cmd_vel_mux_input)"/>
    <arg name="move_base_topic"       value="$(arg move_base_topic)"/>
    <arg name="odom_topic"            value="$(arg odom_topic)"/>
    <arg name="map_topic"             value="$(arg map_topic)"/>
    <arg name="global_frame"          value="$(arg global_frame)"/>
    <arg name="odom_frame"              value="$(arg odom_frame)"/>
    <arg name="base_frame"            value="$(arg base_frame)"/>
    <arg name="vel_smoother_param"    value="$(arg vel_smoother_param)"/>
    <arg name="move_base_param_path"  value="$(arg move_base_param_path)"/>
    <arg name="custom_param_file"     value="$(arg custom_param_file)"/>
    <arg name="robot_cmd_feed"        value="$(arg robot_cmd_feed)"/>
  </include>
</launch>