<launch>
    <arg name="gui" default="true" />
    <arg name="robot_type" default="imr" doc="Can be 'hook_150' or 'imr' for now." />
    <arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
    <include file="$(find amr_startup)/launch/robot_empty_world.launch">   
        <arg name='world_name' value="$(find dynamic_logistics_warehouse)/worlds/warehouse.world"/>
        <arg name="robot_x" value="12.0"/>
        <arg name="robot_y" value="22.0"/>
        <arg name="robot_yaw" value="3.141592654"/>
        <arg name="gui" value="$(arg gui)" />
        <arg name="robot_type" value="$(arg robot_type)" />
        <arg name="tf_prefix" value="$(arg tf_prefix)" />
    </include>

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find amr_startup)/rviz/navigation.rviz" required="true" />
</launch>