<launch>
  <arg name="model" default="$(env PIBOT_MODEL)" doc="model type [apollo, zeus, hades, hera]"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
    <rosparam file="$(find pibot_navigation)/params/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find pibot_navigation)/params/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find pibot_navigation)/params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find pibot_navigation)/params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find pibot_navigation)/params/dwa_local_planner_params_$(arg model).yaml" command="load" />
    <rosparam file="$(find pibot_navigation)/params/move_base_params.yaml" command="load" />
    <rosparam file="$(find pibot_navigation)/params/global_planner_params.yaml" command="load" />
  </node>
</launch>
