<launch>
  <arg name="localization"    default="false" doc="Localization mode for navigation"/>
  <arg     if="$(arg localization)" name="rviz_config"   default="$(find pibot_slam_3d)/config/navigation.rviz"/>
  <arg unless="$(arg localization)" name="rviz_config"   default="$(find pibot_slam_3d)/config/mapping.rviz"/>

  <!-- RVIZ node -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_config)" />

</launch>
