Melodic migration

launch/3d_nav_map.launch

 <?xml version="1.0"?>
 <!-- -->
 <launch>
- 
-  <arg name="world"                   default="brl"/> 
-  <arg name="output"                  default="screen"/>
-  <arg name="launch_prefix"           default=""/>
-  <arg name="use_nodelets"            default="true"/>
 
-  <arg name="rviz"                    default="true"/>
-  <arg name="rviz_file"               default="$(find iri_ana_rosnav)/rviz/3d_ana.rviz"/>
+  <arg name="name"                    default="ana"/>
+
+  <arg name="use_3d_nav_nodelets"     default="true"/>
+
+  <arg name="path"                    default="$(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="param_subpath"           default="params"/>
+  <arg name="costmap_common_params"   default="common_params.yaml"/>
+  <arg name="costmap_local_params"    default="local_params.yaml"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="map_path"                default="$(find iri_maps)/maps"/>
+  <arg name="map_name"                default="empty" />
   <arg name="initial_x"               default="0.0"/>
   <arg name="initial_y"               default="0.0"/>
   <arg name="initial_yaw"             default="0.0"/>
+  <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="$(arg output)"/>
+    <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-    <arg name="use_nodelets" value="$(arg use_nodelets)"/>
+    <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
   </include>
 
   <include file="$(find iri_ana_rosnav)/launch/nav_map.launch">
+    <arg name="name"                  value="$(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_name"              value="$(arg world)"/>
+    <arg name="map_name"              value="$(arg map_name)"/>
     <arg name="initial_x"             value="$(arg initial_x)"/>
     <arg name="initial_y"             value="$(arg initial_y)"/>
     <arg name="initial_yaw"           value="$(arg initial_yaw)"/>
@@ -41,7 +48,4 @@
     <arg name="global_planner"        value="$(arg global_planner)"/>
   </include>
 
-  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure"/>
-
 </launch>
-