<launch>
  <arg name="init_x" default="20" />
  <arg name="init_y" default="0" />

  <include file="$(find rois_gazebo)/launch/spawn_model.launch">
    <arg name="init_x" value="$(arg init_x)" />
    <arg name="init_y" value="$(arg init_y)" />
    <arg name="model_name" value="human1" />
  </include>

  <include file="$(find rois_gazebo)/launch/trajectory_tracker3.launch">
    <arg name="robot_name" value="human1" />
    <arg name="speed" value="1.5" />
  </include>

  <group ns="human1">
    <include file="$(find rois_2dnav_gazebo)/launch/amcl.launch">
      <arg name="robot_name" value="human1" />
      <arg name="init_x" value="$(arg init_x)" />
      <arg name="init_y" value="$(arg init_y)" />
    </include>
  </group>
</launch>
