<launch>
  <arg name="gui" default="false"/>
  <!-- Set tf -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 world map 100" />

  <!-- Launch other launch files -->
  <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch"/>

  <!-- Arguments -->
  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
  <arg name="open_rviz" default="false"/>
  <arg name="move_forward_only" default="false"/>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- MCL -->
  <include file="$(find emcl2)/launch/emcl2.launch"/> 

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
  </group>

</launch>