localization_launcher.launch

<launch>
 
  <!-- Path of the yalm map file -->
  <arg name="map_file"       default="$(find omnirobot_loc_and_mapping)/maps/map.yaml"/>

  <!--  **************** Synchronization of the simulation time ****************  -->
  <param name="/use_sim_time" value="true"/>

  <!--  ****** Maps *****  -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
    <param name="frame_id" value="map"/>
  </node>

  <!--  ****** amcl *****  -->
  <include file="$(find omnirobot_loc_and_mapping)/launch/amcl.launch.xml"/>

  <!--  **************** Static transformation ****************  -->
	<include file="$(find omnirobot_loc_and_mapping)/launch/static_transforms.launch.xml"/>

	<!--  **************** Scan merger ****************  -->
	<include file="$(find omnirobot_loc_and_mapping)/launch/scan_merger.launch.xml"/>

	<!--  **************** Visualisation ****************  -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find omnirobot_loc_and_mapping)/rviz/omnirobot_loc_and_mapping.rviz"/>
  <node pkg="omnirobot_loc_and_mapping" type="trajectory_drawer.py" name="trajectory_drawer" />

	<!--  **************** Odometry to tf ****************  -->
	<node pkg="omnirobot_loc_and_mapping" type="odom_tf" name="odom_tf"/>

  <!--  **************** Deploy trajectory saver service ****************  -->
	<node pkg="omnirobot_loc_and_mapping" type="trajectory_saver.py" name="trajectory_saver" output="log"/>
  
</launch>