Add 3d nav mapping launch

launch/3d_nav_mapping.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name"                    default="ana"/>
+
+  <arg name="use_3d_nav_nodelets"     default="true"/>
+  <arg name="nav_camera"              default="nav_cam"/>
+
+  <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
+  <arg name="move_base_params"        default="move_base_params.yaml"/>
+  <arg name="costmap_common_params"   default="3d_common_params.yaml"/>
+  <arg name="costmap_local_params"    default="3d_local_params.yaml"/>
+  <arg name="costmap_global_params"   default="3d_global_params.yaml"/>
+  <arg name="map_frame_id"            default="map" />
+  <arg name="resolution"              default="0.1" />
+  <arg name="use_move_base"           default="true"/>
+  <arg name="local_planner"           default="dwa"/>
+  <arg name="global_planner"          default="global_planner"/>
+
+  <arg name="rviz"                    default="true"/>
+  <arg name="rviz_file"               default="$(find iri_ana_rosnav)/rviz/3d_ana.rviz"/>
+
+  <arg name="output"                  default="screen"/>
+  <arg name="launch_prefix"           default=""/>
+
+  <include file="$(find iri_ana_rosnav)/launch/include/3d_nav.launch">
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
+    <arg name="nav_camera"    value="$(arg nav_camera)"/>
+  </include>
+
+  <include file="$(find iri_ana_rosnav)/launch/nav_mapping.launch">
+    <arg name="name"                  value="$(arg name)"/>
+    <arg name="rviz"                  value="$(arg rviz)"/>
+    <arg name="rviz_file"             value="$(arg rviz_file)"/>
+    <arg name="move_base_params"      value="$(arg move_base_params)"/>
+    <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+    <arg name="costmap_local_params"  value="$(arg costmap_local_params)"/>
+    <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+    <arg name="map_frame_id"          value="$(arg map_frame_id)" />
+    <arg name="resolution"            value="$(arg resolution)" />
+    <arg name="local_planner"         value="$(arg local_planner)"/>
+    <arg name="global_planner"        value="$(arg global_planner)"/>
+  </include>
+
+</launch>

launch/nav_mapping.launch

 <?xml version="1.0"?>
 <!-- -->
 <launch>
-
-  <arg name="rviz"                    default="true"/>
-  <arg name="rviz_file"               default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
+  <arg name="name"                    default="ana"/>
+  <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
   <arg name="costmap_common_params"   default="common_params.yaml"/>
   <arg name="costmap_local_params"    default="local_params.yaml"/>
@@ -12,12 +11,14 @@
   <arg name="resolution"              default="0.1"/>
   <arg name="local_planner"           default="dwa"/>
   <arg name="global_planner"          default="global_planner"/>
+  <arg name="rviz"                    default="true"/>
+  <arg name="rviz_file"               default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                    value="ana"/>
-    <arg name="path"                  value="$(find iri_ana_rosnav)/params"/>
+    <arg name="path"                  value="$(arg path)"/>
     <arg name="move_base_params"      value="$(arg move_base_params)"/>
     <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
     <arg name="costmap_local_params"  value="$(arg costmap_local_params)"/>