From 65cf4ed97fe4aca7406ce09029f7e21707ed3e92 Mon Sep 17 00:00:00 2001
From: locker98 <comet@use.startmail.com>
Date: Fri, 20 Dec 2024 08:43:52 -0500
Subject: [PATCH] fixed xml launch file

---
 .../General ROS 2/SLAM and Navigation/Nav2.md |  7 ++---
 .../General ROS 2/SLAM and Navigation/SLAM.md | 28 +++++++++----------
 2 files changed, 16 insertions(+), 19 deletions(-)

diff --git a/docs/General ROS 2/SLAM and Navigation/Nav2.md b/docs/General ROS 2/SLAM and Navigation/Nav2.md
index 8274813..17fc84a 100755
--- a/docs/General ROS 2/SLAM and Navigation/Nav2.md	
+++ b/docs/General ROS 2/SLAM and Navigation/Nav2.md	
@@ -74,10 +74,7 @@ Here is a custom ROS 2 Launch file
 
 === "XML"
 	
-	This is the XML version that is much easier to understand but for some reason it does not work. There is some error with the args the makes it error every time I try to build it.
-	
 	```xml title="nav2.launch.xml" linenums="1"
-	<?xml version="1.0"?>
 	<launch>
 	    <!-- Declare Launch Arguments -->
 	    <arg name="use_sim_time" default="false" description="Use simulation time" />
@@ -85,8 +82,8 @@ Here is a custom ROS 2 Launch file
 	
 	    <!-- 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/docs/General ROS 2/SLAM and Navigation/SLAM.md b/docs/General ROS 2/SLAM and Navigation/SLAM.md
index 7cd2a9b..8a1ca77 100755
--- a/docs/General ROS 2/SLAM and Navigation/SLAM.md	
+++ b/docs/General ROS 2/SLAM and Navigation/SLAM.md	
@@ -79,22 +79,22 @@ Here is a custom ROS 2 Launch file
 	```
 
 === "XML"
-	
-	This is the XML version that is much easier to understand but for some reason it does not work. There is some error with the args the makes it error every time I try to build it.
-	
+
 	```xml title="slam.launch.xml" linenums="1"
 	<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 $(find-pkg-share locker98_tools_bringup)/rviz/nav2_slam.rviz" />
+	    <arg name="use_sim_time" default="False" />
+	    
+	    <include file="$(find-pkg-share nav2_bringup)/launch/navigation_launch.py">
+	        <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="$(var use_sim_time)"/>
+	    </include>
+	    
+	    <node pkg="rviz2" exec="rviz2" output="screen">
+	        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
+	    </node>
 	</launch>
 	```