move_base_bodzi.launch

<launch>

<!--Labbot launch-->

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


 <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

<!-- Tf publication linking base of the robot with the camera link-->
 <node pkg="tf" type="static_transform_publisher" name="base_to_kinect_broadcaster" args="0.1 0 0.615 0 0 0 labbot_base_link camera_link 100" />


<include file="$(find freenect_launch)/launch/freenect.launch"/>
	<include file="$(find rtabmap_ros)/launch/rgbd_mapping.launch">
	<arg name="rviz" value="true"/>
	<arg name="rtabmapviz" value="false"/>
	<arg name="rtabmap_args" value="--delete_db_on_start"/>


	<arg name="visual_odometry" value="false"/>
	<arg name="odom_topic" value="/labbot_odometry"/>

</include>
	<!-- Gmapping -->
         <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro --> 
	 <arg name="custom_gmapping_launch_file" default="custom_gmapping.launch"/>	  
	 <include file="$(arg custom_gmapping_launch_file)"/>

  <!-- Move base -->
  <include file="/home/labbot/ROS-labbot-kalkowski-staszak/labbot_ws/src/autonomous-hokuyo/launch/move_base.launch.xml"/>




</launch>