<launch>
  <arg name="use_path_with_velocity" default="true"/>
  <arg name="vel" default="0.5"/>
  
  <include file="$(find rois_gazebo)/launch/navigate3.launch">
    <arg name="simulate" value="true"/>
    <arg name="map_file" value="$(find rois_2dnav_gazebo)/map/c_corridor.yaml"/>
    <arg name="use_path_with_velocity" value="true"/>
    <arg name="vel" value="$(arg vel)"/>
    <arg name="sim_robot_x" value="20"/>
  

  </include>
  <node pkg="map_server" type="map_server" name="map_server_local" args="$(find neonavigation_launch)/map/demo_map_local.yaml">
    <remap from="map" to="map_with_local_objects"/>
  </node>
  <node pkg="costmap_cspace" type="largemap_to_map" name="largemap_to_map">
    <remap from="map" to="map_with_local_objects"/>
    <remap from="map_local" to="overlay1"/>
    <param name="width" value="60"/>
    <param name="hz" value="1.5"/>
    <param name="round_local_map" value="true"/>
    <param name="simulate_occlusion" value="true"/>
  </node>
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find neonavigation_launch)/config/visualization.rviz" respawn="true"/>
</launch>