<launch>

  <param name="/use_sim_time" value="true" /> 

  <node pkg="tf" type="static_transform_publisher" name="base_to_scan_broadcaster" args="0.0 0 0 0 0 0 base_footprint base_scan 100" />

  <node pkg="slam_toolbox" type="localization_slam_toolbox_node" name="slam_toolbox" output="screen">
    <rosparam command="load" file="$(find slam_toolbox)/config/mapper_params_localization.yaml" />
  </node>

</launch>
