From 7b328de5c1837b10522925f6bd194c689636bd6f Mon Sep 17 00:00:00 2001
From: locker98 <coolemail45@proton.me>
Date: Thu, 19 Dec 2024 14:59:33 -0500
Subject: [PATCH] added xml version

---
 locker98_tools_bringup/launch/nav2.launch.xml | 16 ++++++++++++++++
 locker98_tools_bringup/launch/slam.launch.xml | 13 +++++++++++++
 2 files changed, 29 insertions(+)
 create mode 100644 locker98_tools_bringup/launch/nav2.launch.xml
 create mode 100644 locker98_tools_bringup/launch/slam.launch.xml

diff --git a/locker98_tools_bringup/launch/nav2.launch.xml b/locker98_tools_bringup/launch/nav2.launch.xml
new file mode 100644
index 0000000..0243b1f
--- /dev/null
+++ b/locker98_tools_bringup/launch/nav2.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+    <!-- Declare Launch Arguments -->
+    <arg name="use_sim_time" default="false" description="Use simulation time" />
+    <arg name="map" default="" description="Map input" />
+
+    <!-- Include bringup launch file -->
+    <include file="$(find nav2_bringup)/launch/bringup_launch.py">
+        <arg name="use_sim_time" value="$(arg use_sim_time)" />
+        <arg name="map" value="$(arg map)" />
+    </include>
+
+    <!-- RViz node -->
+    <node pkg="rviz2" exec="rviz2" output="screen">
+        <param name="config" value="$(find locker98_tools_bringup)/rviz/nav2_config.rviz" />
+    </node>
+</launch>
\ No newline at end of file
diff --git a/locker98_tools_bringup/launch/slam.launch.xml b/locker98_tools_bringup/launch/slam.launch.xml
new file mode 100644
index 0000000..7cadb46
--- /dev/null
+++ b/locker98_tools_bringup/launch/slam.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+    <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)"/>
+    </include>
+    
+    <include file="$(find-pkg-share slam_toolbox)/launch/online_async_launch.py">
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    </include>
+    
+    <node pkg="rviz2" executable="rviz2" output="screen" args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_slam.rviz" />
+</launch>
\ No newline at end of file