<?xml version="1.0"?>
<launch>

  <arg name="ros_kinematics_yaml" default="$(find ros_kinematics)/config/ros_diff_drive_controller.yaml"/>
  <arg name="use_encoder" default="false"/>
  <arg name="type" default="2"/>
  <node pkg="ros_kinematics" type="ros_kinematics_node" name="ros_kinematics" output="screen"> 
    <rosparam file="$(arg ros_kinematics_yaml)" command="load" />
    <param name="use_encoder" type="bool" value="$(arg use_encoder)"/>
    <param name="type" type="int" value="$(arg type)"/>
    <remap from="/ros_kinematics/odom" to="/odom" />
  </node>
   
</launch>  