From 76ab879d8d8a5bf15e72d0d849fff1f285ee6c32 Mon Sep 17 00:00:00 2001
From: locker98 <coolemail45@proton.me>
Date: Fri, 20 Dec 2024 08:31:57 -0500
Subject: [PATCH] fix xml file

---
 locker98_tools_bringup/launch/nav2.launch.xml |  4 ++--
 locker98_tools_bringup/launch/slam.launch.xml | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/locker98_tools_bringup/launch/nav2.launch.xml b/locker98_tools_bringup/launch/nav2.launch.xml
index 23c2749..18df91e 100644
--- a/locker98_tools_bringup/launch/nav2.launch.xml
+++ b/locker98_tools_bringup/launch/nav2.launch.xml
@@ -5,8 +5,8 @@
 
     <!-- Include bringup launch file -->
     <include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
-        <arg name="use_sim_time" value="$(arg use_sim_time)" />
-        <arg name="map" value="$(arg map)" />
+        <arg name="use_sim_time" value="$(var use_sim_time)" />
+        <arg name="map" value="$(var map)" />
     </include>
 
     <!-- RViz node -->
diff --git a/locker98_tools_bringup/launch/slam.launch.xml b/locker98_tools_bringup/launch/slam.launch.xml
index 7cadb46..625fdf6 100644
--- a/locker98_tools_bringup/launch/slam.launch.xml
+++ b/locker98_tools_bringup/launch/slam.launch.xml
@@ -2,12 +2,14 @@
     <arg name="use_sim_time" default="False" />
     
     <include file="$(find-pkg-share nav2_bringup)/launch/navigation_launch.py">
-        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="use_sim_time" value="$(var use_sim_time)"/>
     </include>
-    
+  
     <include file="$(find-pkg-share slam_toolbox)/launch/online_async_launch.py">
-        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="use_sim_time" value="$(var use_sim_time)"/>
     </include>
     
-    <node pkg="rviz2" executable="rviz2" output="screen" args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_slam.rviz" />
+    <node pkg="rviz2" exec="rviz2" output="screen">
+        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
+    </node>
 </launch>
\ No newline at end of file