<launch>
  <arg
    name="robot_name" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find rois_2dnav_gazebo)/config/move_base_params.yaml" command="load" />

    <rosparam file="$(find rois_2dnav_gazebo)/config/costmap/$(arg robot_name)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find rois_2dnav_gazebo)/config/costmap/$(arg robot_name)/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find rois_2dnav_gazebo)/config/costmap/$(arg robot_name)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find rois_2dnav_gazebo)/config/costmap/$(arg robot_name)/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find rois_2dnav_gazebo)/config/planner/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find rois_2dnav_gazebo)/config/planner/base_global_planner_params.yaml" command="load" />

    <rosparam file="$(find rois_2dnav_gazebo)/config/planner/recovery_behaviors.yaml" command="load" />

    <remap from="cmd_vel" to="/$(arg robot_name)/diff_drive_controller/cmd_vel" />
    <remap from="map" to="/map" />
    <remap from="/move_base_simple/goal" to="move_base_simple/goal" />
  </node>
</launch>
