<?xml version="1.0"?> <launch> <remap from="cmd_vel" to="aws_robot_velocity_controller/cmd_vel"/> <remap from="odom" to="aws_robot_velocity_controller/odom"/> <param name="/use_sim_time" value="true"/> <!-- Run the map server --> <arg name="map_file" default="$(find aws_robomaker_small_house_world)/maps/map.yaml"/> <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"> <param name="frame_id" type="str" value="map"/> </node> <arg name="scan_topic" default="lidar_scan" /> <!--- Run AMCL --> <include file="$(find robot_navigation)/launch/amcl.launch"> <arg name="scan_topic" value="$(arg scan_topic)" /> </include> <!--- Run Move Base --> <include file="$(find robot_navigation)/launch/move_base.launch" /> </launch>