<launch>
  <node name="nav_view" pkg="rqt_nav_view" type="rqt_nav_view" respawn="false">
    <remap from="goal" to="move_base_simple/goal" />
    <remap from="obstacles" to="move_base_node/local_costmap/obstacles" />
    <remap from="inflated_obstacles" to="move_base_node/local_costmap/inflated_obstacles" />
    <remap from="global_plan" to="move_base_node/SBPLLatticePlanner/plan" />
    <remap from="local_plan" to="move_base_node/TrajectoryPlannerROS/local_plan" />
    <remap from="robot_footprint" to="move_base_node/local_costmap/robot_footprint"/>
  </node>
</launch>
