<launch>
  <!-- Arguments -->
  <arg name="model" default="$(find agv_description)/urdf/agv.urdf.xacro"/>
  <arg name="configuration_basename" default="agv_lds_2d.lua"/>
  <arg name="set_base_frame" default="base_footprint"/>
  <arg name="set_odom_frame" default="odom"/>
  <arg name="set_map_frame"  default="map"/>

  <!-- Gmapping -->
  <node pkg="gmapping" type="slam_gmapping" name="agv_slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <rosparam command="load" file="$(find agv_slam)/config/gmapping_params.yaml" />
  </node>
</launch>