<launch>
    <param name="use_sim_time" value="false" />

    <arg name="use_imu" default="false" doc="use imu in pibot"/>

    <include file="$(find pibot_bringup)/launch/robot.launch">
        <arg name="use_imu" value="$(arg use_imu)"/>
    </include>

    <include file="$(find pibot_navigation)/launch/include/move_base.launch.xml" />

    <include file="$(find pibot_navigation)/launch/include/hector_mapping.launch.xml" />

    <include file="$(find pibot_navigation)/launch/include/geotiff_mapper.launch.xml">
        <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
    </include>
</launch>
