Added a launch to navigate using the opendrive global planner and a map.

launch/nav_opendrive_map.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <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"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="local_planner"           default="ackermann"/>
+  <arg name="global_planner"          default="iri_opendrive"/>
+  <arg name="odom_topic"              default="/model_car/odom"/>
+  <arg name="map_name"                default="empty"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
+  <arg name="road_name"               default="adc_road_big"/>
+  <arg name="road_size"               default="9.9101"/>
+  <arg name="road_path"               default="$(env HOME)/Documents/"/>
+  <arg name="road_x"                  default="3.5"/>
+  <arg name="road_y"                  default="3.99997"/>
+  <arg name="road_yaw"                default="1.5707"/>
+  <arg name="road_parent_frame_id"    default="map"/>
+
+  <include file="$(find iri_rosnav)/launch/nav.launch">
+    <arg name="ns"                      value="model_car"/>
+    <arg name="path"                    value="$(find model_car_rosnav)/params"/>
+    <arg name="move_base_params"        value="$(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="$(arg costmap_global_params)"/>
+    <arg name="map_frame_id"            value="map"/>
+    <arg name="odom_frame_id"           value="model_car/odom"/>
+    <arg name="base_frame_id"           value="model_car/base_footprint"/>
+    <arg name="map_topic"               value="/model_car/map"/>
+    <arg name="map_service"             value="/model_car/static_map"/>
+    <arg name="odom_topic"              value="$(arg odom_topic)"/>
+    <arg name="cmd_vel_topic"           value="/model_car/cmd_vel"/>
+    <arg name="scan_topic"              value="/model_car/sensors/scan"/>
+    <arg name="use_map"                 value="true"/>
+    <arg name="use_map_server"          value="true"/> 
+    <arg name="map_name"                value="$(arg map_name)"/>
+    <arg name="use_amcl"                value="true"/>
+    <arg name="amcl_config"             value="$(find model_car_rosnav)/params/amcl.yaml"/>
+    <arg name="use_fake_loc"            value="false"/>
+    <arg name="initial_x"               value="0.0"/>
+    <arg name="initial_y"               value="0.0"/>
+    <arg name="initial_yaw"             value="0.0"/>
+    <arg name="use_gmapping"            value="false"/>
+    <arg name="local_planner"           value="$(arg local_planner)"/>
+    <arg name="global_planner"          value="$(arg global_planner)"/>
+    <arg name="output"                  value="$(arg output)" />
+    <arg name="launch_prefix"           value="$(arg launch_prefix)" />
+  </include>
+
+  <param name="/model_car/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(find model_car_rosnav)/adc_road.xodr" />
+
+  <include file="$(find road_description)/launch/spawn_road.launch">
+    <arg name="road_name"  value="$(arg road_name)"/>
+    <arg name="road_size"  value="$(arg road_size)"/>
+    <arg name="road_path"  value="$(arg road_path)"/>
+    <arg name="x"          value="$(arg road_x)"/>
+    <arg name="y"          value="$(arg road_y)"/>
+    <arg name="yaw"        value="$(arg road_yaw)"/>
+    <arg name="parent"     value="$(arg road_parent_frame_id)"/>
+  </include>
+
+</launch>