<launch>
  <master auto="start"/>
  <group name="wg">
    <node pkg="map_server" type="map_server" args="$(find 2dnav_stage)/maps/willow-full-0.05.pgm 0.05" respawn="false" />
    <node pkg="stage" type="stageros" name="stageros" args="$(find 2dnav_stage)/worlds/willow-pr2-5cm.world" respawn="false" >
      <param name="base_watchdog_timeout" value="0.2"/>
    </node>
    <node pkg="fake_localization" type="fake_localization" respawn="false" />
    <node pkg="nav_view" type="nav_view" respawn="false"/>
    <node pkg="nav" type="planner_test" output="screen" />
  </group>
</launch>
