turtlebot_gmapping.launch

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

<param name="use_sim_time" value="false"/>
<arg name="record" default="False" doc="Record results in a bag file"/>
<arg name="play" default="False" doc="Play recorded bag file"/>
<arg name="bagfile" default="" doc="Play recorded bag file"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_slam.rviz" />

<group unless="$(arg play)">
  <include file="$(find turtlebot3_teleop)/launch/turtlebot3_teleop_key.launch"/>
  <include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch"/>
</group>

<group if="$(arg play)">
  <node pkg="rosbag" type="play" name="rosbag_play" args="$(env HOME)/catkin_ws/src/thesis/$(arg bagfile) /cmd_vel:=/cmd_vel_dev_null"/>
  <param name="use_sim_time" value="true"/>
</group>

<group if="$(arg record)">
  <node pkg="rosbag" type="record" name="rosbag_record" args="record -a -o $(env HOME)/catkin_ws/src/thesis/bagfiles/"/>
  <param name="use_sim_time" value="false"/>
</group>



</launch>