<?xml version="1.0"?>

<launch>
  <arg name="scan_topic"           default="scan"/>
  
  <param name="use_sim_time" value="true"/>
  

  <!-- The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), 
       as a ROS node called slam_gmapping -->
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <remap from="scan" to="$(arg scan_topic)"/>
    <rosparam file="$(find tsukuba2022)/params/gmapping_common_params.yaml" command="load"/>
  </node>
  
  

  <!-- Node for rviz visualization -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find waypoint_saver)/rviz_cfg/record_waypoints.rviz"/>

</launch>
