Update launch, add map/nav

launch/sim_localization_global.launch

@@ -3,6 +3,7 @@
 <launch>
 
   <arg name="name"                        default="model_car"/>
+  <arg name="circuit"                     default="sample"/>
   <arg name="output"                      default="screen"/>
   <arg name="launch_prefix"               default=""/>
 
@@ -34,9 +35,10 @@
   </include>
 
   <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
+    <arg name="name" value="$(arg circuit)"/>
   </include>
 
-<!--  <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
+  <include file="$(find iri_model_car_rosnav)/launch/nav_opendrive_map.launch">
     <arg name="move_base_params"            value="move_base_params.yaml"/>
     <arg name="costmap_common_params"       value="common_params.yaml"/>
     <arg name="costmap_local_params"        value="local_params.yaml"/>
@@ -48,8 +50,8 @@
     <arg name="output"                      value="$(arg output)" />
     <arg name="launch_prefix"               value="$(arg launch_prefix)" />
     <arg name="opendrive_file_path"         default="$(find iri_adc_circuit_example)/data"/>
-    <arg name="opendrive_file_name"         default="example"/>
-  </include>-->
+    <arg name="opendrive_file_name"         default="$(arg circuit)"/>
+  </include>
 
   <include file="$(find iri_model_car_bringup)/launch/teleop_rqt.launch">
     <arg name="name"                       value="$(arg name)"/>
@@ -60,7 +62,7 @@
   <node name="rviz"
         pkg="rviz"
         type="rviz"
-        args="-d $(find iri_model_car_bringup)/rviz/localization.rviz">
+        args="-d $(find iri_adc_launch)/rviz/localization_global.rviz">
   </node>
 
 </launch>