<launch>
  <arg
    name="robot_name"
    default="roisbot" />
  <arg
    name="init_x"
    default="0" />
  <arg
    name="init_y"
    default="0" />

  <node pkg="amcl" type="amcl" name="amcl" output="screen">
    <rosparam 
      file="$(find rois_2dnav_gazebo)/config/amcl_params.yaml" 
      command="load" />
    <remap 
      from="map" 
      to="/map" />
    <param 
      name="base_frame_id" 
      value="$(arg robot_name)/base_footprint" />
    <param 
      name="odom_frame_id" 
      value="$(arg robot_name)/odom" />
    <param 
      name="global_frame_id" 
      value="/map" />
    <param 
      name="initial_pose_x" 
      value="$(arg init_x)" />
    <param 
      name="initial_pose_y" 
      value="$(arg init_y)" />
  </node>
</launch>
